Windows 10 disabled the protocol Windows XP uses for file sharing (SMB 1.0) due to security risks. You must re-enable it.
Since classic Google Cloud Print has been discontinued, you can use third-party software to bridge the gap between legacy and modern systems.
En la sección , es recomendable desactivar el uso compartido con protección por contraseña para facilitar la conexión desde XP, aunque esto reduce la seguridad. 2. Compartir la Impresora en Windows 10 Una vez preparada la red, activa el recurso compartido: How to share a printer over the network (Windows 10)
Plug your printer's USB cable directly into the print server.