Hi,
The HP LaserJet 5MP is a printer from approx. 1995, normally equipped with a parallel port and a LocalTalk port (the latter allows network connections to pre-1998 Macintosh computers). As an option, an HP print server (for Ethernet) was available.
Does your printer have an Ethernet port? If not, the parallel port would have to be used. There are two main methods if you want to connect the 5MP to more modern computers.
The first would be a USB-to-parallel adapter. This would allow you to use the 5MP as any other USB printer (provided that you can find suitable printer drivers). This is not a network solution, unless the printer could be connected to an older Apple AirPort Extreme or AirPort Express base station with a USB port (for printer sharing).
The second would be an Ethernet-to-parallel print server. There are a number of devices (TP-Link TL-PS110P is just one example). This would make the printer networkable (still provided that appropriate printer drivers can be found). The Ethernet port in the print server would be connected to one of the LAN ports of a Wi-Fi router. The modern Mac (or PC) could connect to the printer via the router's wireless network.