Printing across vlans

On our network we sub divided our network into separate vlans for phones video streaming and office equipment.
I want to print from the computer we stream form witch is on to a printer Workforce Pro WF-R5690 that is on

This depends, is it a real VLan (802.1Q or similar) or just a separation in different subnets.

If it is 802.1Q, you can only reach the other subnet if your VLan is allowed to do so. Or if there is a Router in the middle that can drop the VLan tags, but in this case 802.1Q would be pointless anyway.

If it is just a different subnet, you would need to create a route. This can be done at the Router that connects both subnets.