IMHO, you have two options:
A) As Dan suggested, use Samba to connect to the printer (easy enough if you use Mandrake or Red Hat)
B) Setup LPR to print to a remote host. In This case I would definitely recommend checking out
www.linuxprinting.org for excellent documentation on how to do this.
The gist is if you want to do this manually you would have to edit /etc/printcap and specify the remote host (in this case the e-smith box) by IP or hostname, and the name of the output que.
There are a lot of variables to consider depending on your type of printer et al, but check out the Linux printing HOWTO on the website. It is very well done.