Is using VPN an option? Your machine becomes part of the remote network, and any shares that you have rights to can be accessed. I know it is nothing like VNC, as you don't have "control," but you do have access to shares.
I'm running an esmith at home and at work, and I can grab the odd file that I've forgotten this way. I haven't tried printing remotely though. FWIW, I haven't tried this with anything but Win9x boxes on either LAN.
Cheers,
Andrew