How can I print directly to a TCP/IP Printer from my workstation

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You need to setup a TCP/IP port which points to the IP address of the printer.  Then setup a printer and use the TCP/IP port instead of LPT1.  You would setup a "local" printer.

Click Start
Click Settings
Click Printers
Click File
Click Server Properties
Click the Ports tab
Click Add Port
Click Standard TCP/IP port
And click Add Port this will start the following wizard enter the IP address in the wizard

At the port type hit NEXT
Hit Finish
Click Close
Click Close

Now install a "local" printer using your new TCP/IP port.