do you have you DNS Setup?

What exactly are you not able to access?

Just the printers? or the net AND the printers?

If it's the net that is an issue, try setting the DNS up. You might just need to use an OpenDNS system, that may be easier.

Also, how is the bridge setup? Does it just pass the IP address from the main router to the Beige G3, or does the bridge become a DHCP Server of it's own?

It may be a subnet issue if they don't talk across the networks appropriately...