You need to have your router do what it is supposed to, route. If both subnets are defined on the router, and the router is the default route for both subnets, it should route the packets from one subnet to the other without issue.
Another option is to put a secondary address on one of your computers and set up IP forwarding on this machine. Then implement a static route on all other computers pointing to this computer as the gateway to the other network (sloppy but functional). The gateway simply receives the packet using the subnet mask that allows it to "hear" that subnet, and sends the packet back out with a source address that can be "heard" by the destination. It does double your network traffic for each packet that must travel between nets, but if you are switching your network, it won't be that bad.
If you are having trouble browsing for the computers on the other network, try putting in the printserver's IP address, rather than its name. If that works, then you just need to work out the DNS or WINS resolution.
pansophic