You mention 2 networks, which leads me to believe you are working from home and connecting to VPN at your workplace.
Is this correct?
If so, your IT Dept can allow you to print to devices on your local network by making a change to your VPN client. The setting or option will be something like (similar to) "Allow traffic on local LAN".
By design VPN routes all traffic through its connection at your workplace. This is for security. Changing the setting above allows your machine to use local resources, like printers, etc.