Yeah I wouldn't be wanting the guest network to have access to printing.. I would have it set so anything that connects via ethernet automatically just goes onto my main network. As the VLANs would be for the WiFi networks basically.

How do I allow my printer to communicate on all the VLANs but only that device, nothing else.

You could achieve that in a couple of ways. The best / easiest is to put the printer on its own unique VLAN, then use the [LAN] > [General Setup] Inter-LAN routing table to control access to it. That can break discovery for Apple / Google printing and some other types of software, where they may rely on broadcast / multicast on the local subnet - which doesn't get relayed across the different subnets.

The other way, that would be better for using printer discovery in Apple / Google devices, would be to have the printer on your main / preferred subnet, then enable access between the other networks with Inter-LAN routing, then lock down access between the subnets to only the printer, using the router's [Firewall] > [Filter Rules].