How to print on a printer on other IP and subnet

For a school project we have a Windows 2k8r2 server that needs to add a printer on a different ip and subnet. The server has ip 192.168.5.2 / 255.255.255.0 and the printer is in 10.43.11.115 / 255.255.255.248

As for the router, we use a Cisco 1841.

Any clues on how to get the printer added on the server? Im assuming we need to do some configuration on the cisco router but we have no clue what.