If you just need to connect a couple of network printers through VPN, yes TRB140 with a switch will do the job. We have information regarding this on how to configure it. Kindly refer to these links: TRB140 VPN, ZeroTier Configuration.
Using our Routers (RUTs) will be beneficial as well since it has some different features such as providing Wi-Fi for clients, more ports, different speed, etc. It really depends on your use case, but based on what you provide, you pretty much just need to connect to a couple of network printers thus, making TRB140 for example a sufficient solution.
Note that you can use the comparison page from our website for you to be able to compare our different products (up to 4 devices).