Firstly share the printer on your Windows XP computer. Access the link below and follow the steps to share the printer in Windows XP computer.
Check if you can access the Windows XP computer from the Windows 7 laptop and access shared files and folders.
Later on the Windows 7 computer install the printer as a Network printer and check if it helps.
Access the link below and follow the steps under “To install a network, wireless, or Bluetooth printer”.
Hope this helps. Let us know the result.
Thanks and Regards,
Srinivas R Microsoft Support.
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