Why do you have a second subnet provided by the second router? If you have done this simply to provide more Ethernet ports or a second WiFi network then you can configure the connection to create a single large subnet.
However, if you have used two routers to provide you with extra security for devices connected to the second router then there is not too much you can do.
Assuming you can manage with one large subnet and the routers are connected to each other by Ethernet. Disable the DHCP service in the second router and connect the cable from the main router to one of the PC/LAN ports on the second router leaving that second router's WAN port unused. You can also change the private address of the second router to be an unused address in the subnet from the main router so that you can configure this router from the primary network. This address should be outside the DHCP address range of the main router.
If you have any devices on the second router using static addresses, then you will need to reconfigure the addresses.
There is one thing you can investigate. In my case, I have my printer connected to a PC on my second network. When I am using my Chromebook it uses a facility called Google Print that interfaces with an extension to the Chrome browser on the PC that is hosting the printer. I believe the print is bounced off a Google server, but apart from knowing that it works, I am not sure of the details.
For my laptop, when I am using the main router network, I switch over to the other WiFi to use the printer. It's a bit slow, but it works.
I know these aren't ideal solutions, but it might give you some ideas if a single big subnet is not appropriate.
I hope this helps.