Connecting to a Windows Printer

I have one macbook at home and two other windows pcs. I have two printers that are shared on my network. I'm having a hard time adding these printers on the macbook. when I pick the printer model to install, my printers are not there. Which printer models do I pick or do I have to load a driver?

Thanks

An XP box cannot act as a spooler for a Mac machine. To XP, Macs do not exist on the planet.

My solution was to hook the printer to the Mac and install it under Parallels then share it. Mac can see it and anyone one the network in Windows can see it.

If the printer has ethernet then set it up as a static IP and hang it off the hub/switch. I have this as well and it works as well.

Is there an alternate solution? Ive been reading about this Gutenprint driver, installed it but now What?