Some remote access VPN setups will allow you to print remotely. I've used GoToMyPC for that for several years. It's easy to setup and simply works. You just setup the remote printer via the software and it prints just like a local printer. The down side is that it isn't free. Get your company to pay. ;)

This should be possible in other ways via VPN. I'm not experienced using any other alternatives though.

I now have adobe installed, but before that I used (and still use) a shareware app called cutepdfwriter.

Adobe or cutepdfwriter allow you to print pages to an adobe PDF format.

You can create a folder on your machine called something like JunkIHaveToPrint.

When you need to print something, print it using a pdf writer, then save it to that folder. When you get into work, you might be able to right-click on the items and print them out. (Or just open them and print the pdf. )

You could, with a little effort, surely script your way around forgetting to print them.
You don't really need to do pdfs, just set up a copy of the printer you use at work and set it to "print to file". then, when you come into the office, send those files to the printer and delete them. should be possible to do that in a small batch file that runs at startup and possibly checks which environment the computer is in.