Computers won't communicate with printers when norton for comcast with firewall enabled,why?

I have norton for comcast installed on my computers. I have two printers one lexmark 6500 series that is connected to a computer via usb and a hp e series premium that is wireless.

 

If I have firewall enabled the computers can't communicate with either printer and I have to turn firewall off to be able to print. How can I fix it so that I can print to the printers with the firewall active?