If your goal is to use the Windows XP drivers in the session, then I'd try triCerat's Simplify Printing tool, which...
creates a virtual driver on the terminal server for that session's use. If your goal is just to eliminate having to install drivers on the terminal server, then there's a host of third-party tools that will allow you to avoid using a driver on the terminal server, among them RDP Engine by Thin Print and Print2RDP by BlackICE.
One question, though: you're sure that no printer drivers are available? I ask because you say that the clients are running Windows XP. I'd be surprised if a printer with support for Windows XP didn't have support for Windows Server 2003 -- you may need to download the driver from the Web site. It's possible, I suppose, and you may not want the hassle of supporting those individual printers.
Dig Deeper on Network Printer Management
Related Q&A from Christa Anderson
Expert Christa Anderson advises how to map images on a network share for user on a terminal server.continue reading
Expert Christa Anderson offers some ideas for monitoring who is connecting to a terminal server, and when they are connecting.continue reading
Expert Christa Anderson suggests some third-party software producst that can help in using a scanner with Terminal Services.continue reading
Have a question for an expert?
Please add a title for your question
Get answers from a TechTarget expert on whatever's puzzling you.