Yes, you'll need to install software in order to see Windows machines. The one I hear about most is called Dave. I've never used it, but I suspect there are others on this list that have some experience with it.
You should be able to connect with the printer without additional software -- as long as the printer has a network card and are not being "shared" through a connected PC.
I always get Dave and MacPC mixed up, but they are commercial products designed to make a mac or pc a full fledged member of the opposite types network, and I would say for most normal users are overkill and too expensive. In a big office OTOH maybe they already have a license.
This is one of those questions where you really need to give us more information about what you are trying to do, and what the setting is, before we can give good advice.
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