When you say DOS, do you mean that you have a dual-boot XP/DOS setup or are you talking about something running in "DOS" mode from within XP?
Either way, since DOS doesn't natively support USB, you'll have to jump through some hoops to make it happen (if it can happen at all). Check some of the links in this Google search for suggestions:
http://www.columbia.edu/~em36/wpdos/winprint.html
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