I have the following attached to my DG834GT, which works well:
Netgear ps101
If you have a printer with a USB port use:
Netgear ps121
The PS101 is really easy to set up. plug one side into the parallel port, connect the other side to the router using the supplied patch cable. Stick the disk into your PC to set up the connection.
After that you can use windows add network printer wizard from any other PC. The ps101 is also supported by CUPS if you have a linux box.
Hope this helps
EG