As long as all devices are connected to the same LAN segment and have the file and printer sharing set on. Simply connect the printer to one computer and share it, (to avoid complications you need to set permissions to share with everyone, sharing with only certain users can give finer control) - on other network computers, add printer and select network printer, select the shared printer, If the computer is running the same OS as the sharing computer then the drivers should be loaded automatically. If the computer is running a different OS to the sharing computer you will need to have the correct drivers downloaded and ready to load.
To use the printer simply print to it as you would do normally, (the printer and server both need to be running)