Try installing cups. Change the settings to allow management connections from your regular machine, in addition to localhost. Then you can browse to the management port (http://plug:8000
) and tell it to detect and add the printer hooked up to the USB.
That's a fairly heavyweight solution, but configuration is easy and it'll allow you to quickly share and manage the printer over the network, with a web front-end. If you want a more traditional UNIX print spool, install lpr or lprng. Configuration of those is a little more fiddly however.