I have an Airport Extreme Base Station. It is a WIFI router that allows the attachment of a USB printer directly to the router. The AE uses Apple's Bonjour wireless printer sharing protocol, software I also used when I was using a Netgear router and PC computers. The Bonjour program is really pretty simple. You just install the drivers for the computers on the computer you are using (PC only, Apple typically already has the drivers,) then tell Bonjour to go look for them. Then you install as your printers.
I also have a Airport Express in my wife's office, which also allows for an additional printer to be attached. Worked great in our other apartment, but unfortunately, the laser printer is behind a piece of metal in the house here. Signal drops out. No worries. I connected it directly to her computer, an IMac, and set it to be shared through the Airport (WIFI) card in her computer, and now I can print wirelessly on that printer too, just like it was connected to my computer - same print speed.
My Epson 2100 is connected directly to my computer and that is the printer that does all my photo printing. The printer attached to the Airport Extreme is my draft and wordprocessing printer. I have, however, printed wirelessly from my wife's computer to the Epson 2100, which is set up for sharing similarly to the laser printer in her office, and the print speed is really no different (or only slightly slower) than direct attachment.
I think this may be a case where Apple just does it better.
Try Apple Bonjour. It's free and works really well. It may be able to take the place of software associated with your print server that is cludgy and slow. Or you may be able to do away with the print server and just run everything off a wireless router, or even (if this is possible for your printers) use WIFI to print wirelessly to each of your printers individually.