Even if you could VPN in, the only thing you would be able to is send a file to the printer. You must be physically at the printer in order to press the button to start the print. This has been discussed a time or two in the past.
If all you want is to remote in, there are plenty of ways using port 80 (aka internet browsing port) which circumvent configuring your router, bothering your IT team, etc. GoToMyPC is the first one that comes to mind, but there are so many others today.
Fair warning: remoting in to your company without your company’s knowledge might break some security rules within your company.