Why does my HP Photosmart C4795 take a long time to print wirelessly?

I have an HP Photosmart C4795 wireless printer/scanner/copier. When I choose to print using the wireless feature, it generally takes anywhere from 5-10 minutes for the doent to begin printing. Could there be an issue with the wireless router that I'm using (for now, I have a Belkin G Wireless Router)? Or, could this be the result of an improper setup? I have printed doents (and even a picture) wirelessly and it works fine, but the waiting time before the actual printing begins is what makes it almost not worth the wait.