How does one connect two wireguard servers and have clients of one server access resources of the other server?

I have two WireGuard servers configured as follows:

Client(s) 1...5 ------ WG Server A ------ WG Server B ------ Printer

WG Server A also acts as a DNS server and WG Server B also acts as a CUPS server in this configuration.

Currently, WG Server A is connected to Server B (but not the other way around yet). The idea is that when clients are connected to Server A, they should also be able to access the printer connected to server B.

Unfortunately, it seems like clients connected to WG Server A cannot access the printer connected to server B. the client can connect to server B using ssh (via jump host), but it cannot access the online CUPS web interface.

I was wondering if there was a way to ensure clients can access the CUPS web interface and the printer.

For reference, the AllowedIPs field in the configuration file for clients has been set to 0.0.0.0/0. Also, the subnet of both server A and B do not clash — server A uses 172.30.1.0/24, whereas server B uses 192.168.123.0/24.