How to share Epson printer with WRT54G router

Hello,

I have a Dell laptop (Inspiron 8200) and a new Macbook accessing the internet wirelessly using the WRT54G router. I would like to connect my Epson Printer so that both computers can print to it wirelessly. I went to Bestbuy and the sales guy basically said that I would have to buy the N router (the newest), the N adaptor and the N accesspoint. Is this correct? How can I just do it with what I have or just buy a hub or switch? Thanks