If the driver
is already available and you're getting the error "Windows cannot connect to the printer" and "Operation failed with error 0x0000000d" in the detail,
I found a solution from Vista that can be adjusted to work in Windows 7:
1. In "Devices and Printers" click "Add a Printer"
2. Select "Add a local printer"
3. Select "Create a new Port" and use "Local Port" as the Type
4. Enter the Network Path to the Printer (ie. \\ComputerName\SharedPrinterName) as the Port Name
5. Choose the printer from the list
6. Choose whether you want to use the driver that is currently installed or replace it
7. Name the printer
8. Choose whether to share the printer or not
9. Choose whether to set the printer as the default printer or not