the archer

I recently resurrected my Win95 computer and set up a network with my
WinXP computer. They connect to each other and to the Internet via a
Linksys router and a cable modem. I can connect to the Internet via
each machine and I can view files on each machine from the other. I
would also like to be able to print from the Win95 machine to the Canon
iP5200 printer connected to the WinXP machine. However Canon does not
have a Win95 driver for this printer. Does this mean there is no way I
can ever print to the Canon iP5200?