MMMmmm, well didn't you say they were LOCAL printers? You can't setup IP printing on local printers. Once on the console of the remote workstation just go Start >> Settings >> Printers, and manage the printers like a normal local printer. Now, if you wanted to remotely manage the printers via a network connection instead of using PC Anywhere, you could share the printers on the workstations, then you could browse to the machines with the local printers shared and right click and select connect to connect them to your machine. Then you could do a sudo remote management of them. This isn't the best way to do it, but you could do it that way. You may have some authentication issues with this method. If you did it this way you would be in your best intrest to create a local accont on the machines and give them rights to manage the printer.
Now if you are in a domain enviornment, and all the machines are joined to the domain then you shouldn't have any issues with authentication, assuming you have at least local power users rights on the remote machines.