If the printer is network ready then you can add the appropriate network card. If it's a USB printer you can get a printserver unit from the same manufacturer of the wireless router. Also, you can plug the printer into the PC and with the PC on you can share the printer to the network...
In other words, yes it can be done and in several different ways... I'm betting it's a USB printer and those printservers are a piece of cake, check out the router manufacturers web site and see what they offer.
Ken....