Adding a network printer to another computer

I bought a new HP 6500 Wireless with WiFi and Ehternet. The installation went smooth, but when I wanted to add it to other computers in my home network no computer could see the printer. At least I did not know how to configure them to see the new network printer. Using "Browse" or "network" options in "Add printer" dialog did not find the HP 6500 device.
This guide show how to configure a MS Windows computer:
http://uis.georgetown.edu/software/documentation/winxp/winxp.network.printer.html