In order for remote web workplace to connect to your printer, the driver for that printer must be installed on the pc you are connecting to.  Many printers now allow you to install the driver as if you were going to remotely connect to the printer.  If your printer does not support that kind of install, you can always take the printer to the office, install the driver and then take it back home.  Once the driver has ever been installed on your office pc it will automaticly make your printer the default when you connect remotely.