It's very simple to do, no extra sofware required, just standard Windows, I have it working on 98 & 2000, should also work on XP & 95.
I have this working on my work PC, where I can't add software such as Samba, I also use the Zaurus to transfer files between my home & work PCs.
It is a great way of solving the Zaurus printing problem, as you can load the Zaurus file from from within MS Word, Excel etc., & click the print icon, you can even make changes & save it back to the Zaurus.
Mike