Wireless can be configured in one of two Mode.
1. Infra struture - The regular Connection betwenn Wireless Client (computer) to Wireless Access Point (Wireless Router).
2. Ad-Hoc - A connection that allows two computer to connect directly from one to the other.
Printer's Wireless card is a client Wireless, thus it connects with a Computer in Ad-Hoc mode.
I do not know how currently you system is configured.
1. Make sure that that the printer is connected via Wireless to the Router and laptop indeed use this configuration.
2. Install the printer software on the desktop and configure it as a Network printer.
Make sure that the computer's firewall has an exception to allow a connection to a printer.