If you have a client VPN and they want to be able to print to a printer at their location FROM the other end of the VPN, follow this guide. Also see "Adding A Printer For A Terminal Server" if this doesn't help.
To Resolve: Edit
1. On the local machine, make sure the printer is installed correctly and share it out with no spaces in the share name. Test by printing a test page locally.
2. Connect to the VPN through ncpa.cpl. If it's not setup, go ahead and set that up now - see "Setting Up A VPN" for more information.
3. Test the connection by pinging the destination computer's IP address. If it's successful, on the local machine - run an "ipconfig /all". Take note of the PPP IP Address. (In this case 18.104.22.168)