Add remote printer to my laptops devices permanently

I have 2 PC's (lets call them WORK and HOME, on 2 different networks), and i have a printer on the same LAN with the WORK pc. Both WORK pc and printer are connected to router with ethernet cable. I want to add the WORK printer to my HOME pc devices, and for it to be accessible in other apps like any other LAN printer that can be easily added in the devices list. I can configure my routers to port forward if needed, but i dont know the steps i have to take (or if it is even possible without VPN or other software) to connect my HOME pc to the remote printer, what IP address it would have, type o

Question by alex4482 on Super User, licensed CC BY-SA. We show a short excerpt and link to the original thread as credit.