It seems that printing (cups, lprng, smbprint, etc.) still doesn't work with the standard SHARP rom on my Zaurus SL-C860... I might try setting up my own cross-compiling environment in the future, but for now I haven't time.
Since I'm using Linux print servers, I can use SSH for printing:
cat myfile.ps | ssh username@server lpr
When using CUPS on the server, it should understand several other file formats as well (not just postscript).