I think the point is that a Unix or Windows server can have a USB printer plugged into it, but a NetWare server can't use it. NetWare can only use a parallel printer. That is a valid shortcoming.
In a commercial environment, it is best to use an Ethernet-attached printer. The cost for a home or small business can be significant, though. Sharing the printer from a PC without involving NetWare is probably the best approach here.
If the objective is to learn about NDPS, then the printer can be accessed via IP when connected to a Windows 2000/XP computer. The NetWare server can then print to that device via LPR.