You could run the free utility that PC Magazine made called printnow
http://www.pcmag.com/article2/0,4149,8418,00.asp
The only issue that I see is that I don't think that it's been tested with Winxp. I have supported this program for a few users, and the only real problem is that sometimes when you have adobe acrobat (full version), the program doesn't work properly.
I'd say try it and see if it worksfor your users.