To share files and printers the two computers must be in the *SAME* subnet. At the moment by being connected to two separate routers, they are in different subnets, i.e. 192.168.0.0 and 192.168.1.0
Why are the PCs not both connected to the same router? At the moment (unless one router is a sub-router whose WAN port is connected to a main router's LAN port) they cannot both use the same internet connection simultaneously or be networked.