XP Home Edition Sharing Resources

I was wondering if anyone could help me out…At home, we have two computers both running XP. We have one printer hooked up locally to one computer and we would like to know if there is a way to share the printer and other files easily without turning the built-in firewall on and off everytime we want to share something. I know some people will just say to leave the firewall off, but is there an easy way to configure the two systems to share resources?