There are 3 main different classifications of VPN, for example: Access, Intranet and Extranet.
Plus different levels of access and I'd assume you'd have to be a member of the 'VPN management domain' due to authentication. Are you talking about a WAN or LAN with regards to printer access is the LAN physically in the building and workstation room you are sitting in or accessed via the VPN?
To be honest most of what I have done regarding VPN is configure industrial Cisco Switches to use VTP (VLAN Trunking protocol), i.e. the ports themselves. But since you need encryption anyway the VPN might not allow "other" network access through it due to protocols in use. In which case you'd possibly have another switch/port(s) using more conventional methods.