shared printer on vlan

Hello,  I have two vlans,  vlans 1 and 6 configured and working properly at this time.  

Two switches a GS748 and a GS752, connected with a FVS318N, so some of my equipment is quite old. 

There is no-inter vlan routing currently, Vlan 6 is camera infrastructure. 

I am wanting to see a printer from Vlan 1 on Vlan 6.      Gateways are 192.168.1.1 and 192.168.6.1 respectively.  Obviously I am unable to ping.   

Is this just easy as untagging the port on the switch in both vlans? 

I looked a bit into routing acl lists, through the switches and some of it was sparse when it came to Netgear. Thank you,