Sounds like routing problem. Don’t need rules to accomplish this, maybe masquerade rule with ether 2 as out interface, because most printers can only set gateway. Create route in pc using 192.168.0.0/24 (actual ip of router) as gateway for destination ip 192.168.1.0/24.
Ah, the solution was easy enough once I re-checked my firewall rules. I had a rule above the ones I was adding that dropped everything that wasn’t from a specific MAC address.
So for anyone trying to share a printer across two networks running under a single Mikrotik, you can simply use firewall rules, substituting your network information: