Do you have a LAN set up at home (or wherever the printer is)? By LAN I just mean some sort of router, wireless or wired. If you have cable or DSL there, you'd be well served by one anyway.
Assuming you do, just get an
AsanteTalk local talk connector form eBay (or new, but more money). Turn everything off. Plug the standard ethernet patch cable (not cross-over) in from the AT to your router/switch. Plug the LocalTalk cable into the AT and printer. Turn everything on. You may need to experiment a little with power on orders, but I would recommend starting with the router, then AsanteTalk and then printer. Now just set up the printer via AppleTalk. Most current routers pass AppleTalk on wired connections, so this shouldn't be a problem. Though you may want to confirm this before buying the AT.