I have never had much success printing to a printer that is being shared from a PC but in this case you appear to have the printer standing alone on the TC/IP network. If this is not the case, and the printer is connected to the PC via a USB, let us know.
So, assuming that it is stand alone and connected only to the print sever.
Apple Talk is going the way of the DoDo and is NOT turned on, by default, in the later versions of OS X. Check that you have Appletalk turned on.
Also make sure that you have the correct drivers installed in the Mac for this printer. The HP site shows that there is an update for OS X (10.4), make sure you have downloaded that and installed it.
This error has been reported in various places as being associated with AppleTalk.
Try the above and get back with us.
I bought my first mac... in an all PC house... The IBOOK G4 I got pretty much integrated itself right in except for one thing. It doesn't talk to the PC that has control of the printers. So I bought an Airlink wired print server that supports PC, appletalk, and my HP Laserjet 1012. The PC and the Mac all see it on the network and the PC's access it fine.
When I tried to add a printer on the mac, it sees the server through appletalk but comes up as "_nbp_send_failed got=-1" when I try to connect to it. Anyone have any idea what the problem might be? FYI. The wireless router that the print server connects to is a DLink 802.11G.