Welp, I think you should be able to connect to an HP print server using IPX without any real problem. You'll just need to have CUPS and the IPX tools installed on your linux machine.
I've got a similar setup here at home, but the printers are on a win98 box and I'm the one accessing 'em from linux... The meat and potatoes here is in /etc/cups/printers.conf:
soooooo, I'm fairly certain that what you'd need to do to connect to the print server is set that to
smb://<your printer name here>
if you're not sure of the printers name try using 'findsmb'
If you'd like to take the opposite approach and share the printer attached directly to your computer, you'll need to install the Samba server and set it as an exported service... unfortunately, I'm still foggy on how that one's done. Anyone else?