This is easy. First off on the windows machine name the printer, and share it over the network. In OS X, open up the system preferences and the printer pref pane. Add the printer and use the full SMB path of the printer. For example if your computer's name was Windowsbox and the printer's name was HP, you would add it like this:
\\Windowsbox\HP
Select the driver and hit add, and it should work.