Routing specific TCP/UDP packets from VLAN’s to proxy server

I need to set up a solution which is for routing specific TCP/UDP packets between the devices in two separate VLANs through a proxy server. For eg: all my computers are connected to one VLAN(1) and my printers are one another VLAN(2). I can reroute all the packets from VLAN(1) to VLAN(2). My objective is to only reroute packets which generated for printers in VLAN (2) from computers in VLAN (1).

Is there any way in Layer 3 routing for achieving this?

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