I got it to work!
(for 1 share so far) This is what i did:
Created an itentical user name on the win 7 PC
Right click the drive and go into properties - sharing and advanced sharing
Select share this folder
Add the new user name (Share Name) then click permissions
and give read, right and full control
Then go into the security tab and click edit then click add and add the new user
(make sure the user has full control in the security tab) everyting checked except Special permissions
After you add the new user and while in the security tab select the new user then click advanced
Select the new user and click change permissions
then select the new user
Check the box for "Replace all child permissions with inheritable permissions from this object"
Click on apply to the pop up window and select yes. click ok and close out of all the windows
You should now be able to see the win 7 share and all folders and files in the share from the XP PC.
Please post if it works for you and if it doesn't too.
I hope I have explained it so it is understandable.