Setting up your system to print from another machine requires just a couple of alterations in your printcap file. Use the rm= field to specify the remote machine and the rp= field to specify the remote printer on that machine. Sending the print job to the printer is the last thing that happens, so any other options, including input filters, are also honored.
On the destination side, you must be allowed to access the other machine. If you are already a trusted host and have an entry in /etc/hosts.equiv, then there is no problem. If not, you will be denied access. (This is a good time to start thinking about a log file.)
If the sole reason the remote machine needs to trust your machine is to do remote printing, I would recommend not including it in the hosts.equiv file. This opens up more holes. Instead, put your host name in the file /etc/hosts.lpd. The only thing this file does is decide who can access the printers remotely. Putting remote machine names here is much safer.