Been there, done that a zillion times.
So first, make sure the printer is “shared”. Next, make sure you add that printer to the computers being added to the network as “network printers” vs. local printers.
Also.....the real pisser........XP is NOTORIOUS for it’s networking/workgroups. You get ‘em all added, all set up, sharing devices, seeing each other in the workgroup, etc. etc..................and a day or week or month later..........it all goes to hell for no reason and you must do it all over again.
Don’t ask why. It’s a Windows thing. I’ve done this in our home on a wireless network for YEARS.
Oh...to expand on your question: No, once a system is added to the workgroup, the other systems in the same workgroup should ‘see’ it no problem. As for what devices on that system they can ‘see’........again, right click on My Computer, select Explore. Go item by item and right click, select Sharing and Security......decide if you want to share the device (hard drive, optical drive, printer, whatever) with others in the workgroup.