1. Windows XP for the operating system on the 'old' machine - if it has a suitable specification.
2. On that machine, go go to the printers folder, right-click on the printer icon and select 'sharing'. Then follow the prompts.
3. On the other computers, go to the printers folder, choose to add a new printer and select the network-printer option. Now select your source - i.e. navigate to the shared printer on the old machine (via the network) and select it.
Whether or not you have to add the printer driver to the other machines depends on whether their operating systems already have a driver in the database - and that will depend on the printer. If there's no driver you have to install one that's suitable for the machine's operating system.