Your PC has an unused ethernet socket (because it's now using wifi to the router). Your printer also has an ethernet socket. In theory you should be able to connect the two directly with an ethernet cable. You might need a crossover ethernet cable, but lots of modern devices are auto-sensing and will work with ordinary ethernet cables. Once the printer is connected to one computer you will be able to share it to the other computer provided both computers are on. I don't know what Windows 10 software you need to do this, but the hardware is simple.