Connect Ethernet Computer to Wi-Fi Printer via XFinity Modem/router

Hi, I am hoping someone can help me figure out what to do.  I have:

XFinity Gig Internet Modem/router

Ethernet Switch connected to modem/router

Windows 10 desktop PC connected to Ethernet Switch

Epson 4550 printer connected to Xfinity router via Wi-Fi

I can print from my iPhone to my printer so I know the printer is set up correctly.   My computer has internet, so I know it is connected to the router corectly.

My desktop computer, however, cannot find the printer.  I'm wondering if someone can help me figure out what I need to do to make this work.

Thank you!