The best way is to set up a homegroup - have a look at this article and video. Once you have set the homegroup up then it is easy to share printers, etc. The other alternative is to add your printer to your router and then any pc can access it. You will need to add your IP address to the printer and make sure that all pc's have the relevant printer driver. You may also have to access your router and enable the live printer.
Surface Pro 5 News - release date, UK price, features, specs