How can we give non-domain machine rights to domain resources

We have a machine on the network that is not a member of the domain. We'd like to allow the users of this machine to access shared objects (printers, folders). What is the best way to give them rights?
We've tried to set the "everybody" object to allow rights to the printers, but they still get "access denied" when trying to access the properties of the printer.
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thecomputerdocsAuthor Commented:
We don't want to enter domain credentials. The user needs to be able to access the printer without entering in credentials. Any ideas what settings we need to put on the object to allow this?
When you add the printer to the machine that is not on the domain you should be prompted for domain credentials.  After you put in the credentials the printer security should be as if that machine was joined to the domain.
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