Print Wireless w/ G4 Powerbook and PC Laptop

I am lost, and need some help!

I have Mac G4 Powerbook and PC laptop and I have a HP Printer. I want to be able to print to the printer from either machine wirelessly. I know that I couldn't find my HP Drivers for my MAC so I dont know if my MAC will print off of it, the PC does.

Anyways. I wanna set up my printer in a room and have the laptops print to it wirelessly. I am willing to buy another printer if I have to (not too expensive tho..any suggestions). So what do I need to make this work. Someone told me I need a print router?

Please help! LOL

Thanks!

I am on a g4 ibook and print wirelessly to an hp1394 using airport express. Apple and hp are 100% compatible. I can't figure out how to get the wife's gateway pc to print wirelessly. You don't need a print router. If you have airport express, all it entails is connecting the usb from the printer to the airport express station.