Are the printers located where you physically want them, and are the PCs
running at all times when you need to be able to print?

Sharing your printers via CUPS is a fairly straightforward solution, if the
PCs are on and located where you want them.

If you need different access (e.g. one PC is often off when you need to
print), a dedicated, always-on print server may be better. You can still run
CUPS on a dedicated box.

Ubuntu can manage CUPS printers, or you can manage them via a web page from
anywhere on the network.