apple airport express wireless printing not working on Windows

I have installed the Airport Utility v 5.5.3 and Bonjour Printer Wizard on my Windows XP (SP3) machine. I have successfully set up the router, but am unable to print wirelessly. In the utility, I see my printer and have selected the checkbox Share printers over WAN. I have the driver printers installed on a Windows laptop, but am unsuccessful printing from the laptop.

I read somewhere that I need to set the Internet > Connection Sharing to Off (Bridge Mode). I did that and then got the following error and then can't connect to the internet via the router at all:

An error occurred while trying to access the Apple wireless device. Make sure your network connection is valid and try again. Error -6753.

I have tried setting up Bridge Mode several times and ensured my virus protection and firewall were disabled, but always the same results, so I reset my router and am back to using the Internet > Connection Sharing option of Share a public IP address.

The whole reason I bought this router is because it is supposed to be easy for wireless printing, but this has been far from easy to set up. So frustrating. Any suggestions?