The answer is a guarded "yes" depending on the printer, the nature of the network, how you connect into it, and how the network security is set up.
You'd have to either VPN into the network, or set up port forwarding, or give the printer an external IP address. And it would be better if the printer was capable of acting as a web services printer.
How best to go about it depends on what you have - and how its all set up. Best to speak to your network admin first - assuming you have one