The above answer is a good suggestion indeed. The only problem is that not all access points come with their own USB print servers built in.
I would recommend a wireless print server like the one located at the link below. This will allow you to not only print wirelessly, but it also allows you to place the printer anywhere you care to. No longer are you limited by the length of a USB or parallel cable.
they make both USB and Parallel versions.
If this is over kill and you do not care about keeping the printer near the AP, then I would recommend just a plain old cat5 stand alone print server connected to a port on the access point. It will still work without wires in that config.