You can accomplish Internet Printing but you need special software and of course, a print server to run it...
Here's a link to a Microsoft article about it... Windows 2000
and Internet Information Services (IIS)...
http://support.microsoft.com/kb/313058
The general case for home users, however, is that they usually connect their computer to the internet - typically with a router - and have the printer controlled by their home computer - i.e. the computer "talks" to the internet and also to the printer.
The home user needs to establish two paths - Computer to the Router (and thereby to the Internet) - and secondly the path between computer and printer.
You do not say in your question which path is missing. Similarly you do not mention the make and model of your computer or of your printer and do not mention your internet connection method or your computer's Operating System.
Good luck...
Peccavi, November 2009