There are 2 ways to go about this that could save you money and headache:

(1) Connect your printer to a computer that you normally leave on all/most of the time. Set it up like you would if it was your only computer and only printer in the house. Once you're done, make this printer "shareable."
If you're using Windows:
START > SETTINGS > CONTROL PANEL > PRINTERS
Right-click on the printer and select SHARING

Now with the other computers in your house, simply look up this printer under your NETWORK NEIGHBORHOOD and double-click on it to install it on their machine.

NOTE: Make sure all computers are using the same "WORKGROUP" name. Ask me if you don't know how to do this and I'll follow up on a later post. (I just don't want to bore you if you know how already. Most likely, new computers have the default name like "Workgroup" on them.)

(2) But a "printer server" that you connect from your printer to your router. This comes in a variety of price, starting from $40. I recommend an HP, Linksys, Netgear brand -- avoid small-time brands because they will add to your headache.

Good luck!