Linksys Wireless Router :: BEFSR41 - Sharing Printer Over Two Networks?

I have a home office with a network served by a Linksys BEFSR41 wired router. It includes a laptop and HP printer.. This router also connects to my cable modem for internet access. I also have a second wireless linksys E1000 router hardwired to the home office router. It serves my wifes's laptop in  the kitchen and also a ROKU in the den. I tried using the wireless router for the whole house, but the signal was too weak and unreliable. With the current layout, I get a strong signal thoughout the house and my home office uses the wired router.. My problem is that I can't access the printer in my home office.