To share your printer, right click on it and select Sharing. Choose share a printer and give it a name. Click OK. Now on the other PC use the install printer wizard and add a network printer. You can either browse for it or enter the name manually (such as \\mycomputer\myprinter but replacing these values with the names of the computer and printer).
This may help for sharing the scanner:
http://www.remote-scan.com/