Yes. Any printers that are locally attached via on LPT port are fully supported. Printers that are connected via your local network or USB are also supported in most cases but need to be mapped into a local LPT port before they are visible to the remote desktop session. The command to do this looks something like net use lpt3 \\servername\printer /persistent:yes. Do this before connecting to the remote session (on your local computer) and the printer should be visible
Here are some other helpful links around printing and RDP
Windows XP:
http://support.microsoft.com/kb/312135
Windows Vista:
http://windows.microsoft.com/en-us/windows-vista/Print-from-a-remote-computer-to-your-printer
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