The Pixma MP210 does not support a wireless connection. It has a USB port. Some wireless routers do have USB ports and can thus share the printer. Similarly, there are print server options that can be connected to the USB port. However, these will not work with the scanner functions of the all-in-one. Also you would need to confirm that the print server you choose is compatible with the Pixma MP210.
The fastest way to print right now is to connect the USB cord to the laptop. Wait for the drivers to be installed and then send the file to the printer. Moving the cable will let both computers use the scanner features of the all-in-one. A manual USB A/B switch might allow you to share the printer with fewer chances for a damaged USB cable. However, these usually don't support the scanner. Scanning requires bi-directional communication between the printer and the computer. A bad USB cable can turn an all-in-one into a single function printer with a direct USB connection.
Once the MP210 driver is on both systems and they are connected to the same network, you may be able to set up the desktop as a print server for the laptop. This will depend on the OS on both systems. Something like the Windows Homegroup easily allows printer sharing when enabled for systems with Windows 7 and newer on a private network. Both systems need to join the same homegroup. One system starts the homegroup. Then you have to type in the password on the second computer. This works even with one system connected to the wireless network and the other connected to a wired port on the router.
On Vista and XP, you could enable printer sharing as well in the Network and Sharing center. See https://www.wikihow.com/Share-a-Printer
for the steps With Windows OS versions, the scanner functions will only be available on the computer with the direct USB connection.
I hope this helps. Please add a comment with the OS versions on both the desktop and the laptop if you need more specific advice.