I have it working with a VPN tunnel established between my Linksys RV042 and RV082 router and can print to my HP LaserJet from either side of the network.
You can also look at the print server with support for Internet Printing, this does not require a vpn tunnel, but requires some of the TCP ports forwarded in your router. You may also need to register a free domain name with DYNdns or no-ip.com (supported in DNS-323) if you don’t have a static IP from your ISP