If the printer has both a wired Ethernet port and WiFi it may be possible to configure these to attach one of these to each of the two networks, however this would be unusual. Most devices assume connection to a single network.
It should be possible to configure your routers to route traffic from one network to the other, though you need to know what you are doing to make this work without unintended consequences.
Another option would be to attach to one network using a wired (Ethernet) connection, and use a HP Jetdirect WiFi USB dongle (or equivalent) to attach the second network.