Hi
Welcome to the HP Support Community. I'd be happy to assist you.
Since you have installed Win XP virtual machine, I cannot guarantee that you will be able to print, it may or may not work. However, you have to install the printer driver on the Win XP OS from the HP Support site, and connect the USB cable when prompted while installation.
Once the installation is complete, you will be able to print. Once done, disconnect the USB cable as the printer is connected wirelessly on the Win 10 environment.
Hope this helps! Keep me posted.
Please click “Accept as Solution” if you feel my post solved your issue, it will help others find the solution.
Click the “Kudos, Thumbs Up" on the bottom right to say “Thanks” for helping!
Have a great day!