You navigate to a remote computer (e.g. \\computer123) and click View Remote Printers. (If you are on Windows 8, you will need to do Win+R and type in printmanagement.msc and hit OK, then add the remote machine as a print server.)
The problem arises when no remote printers are presented. First, ensure that the account you are logged into has administrative rights on the remote computer.
Secondly, open up Group Policy Editor on the remote computer by running:
gpedit.msc /gpcomputer: computername
Then navigate to Computer Configuration>Administrative Templates>Printers. Find the setting "Allow Print Spooler to accept client connections" and Enable it.