There is more than one way to print, and a way from any device. Here are three of the best.
Chrome Cloud Print allows you to print from any PC or Mac, and iPad and smartphonesr to your printers, once set up, using GMail.
http://support.google.com/cloudprint/bin/answer.py?hl=en&answer=1686197
Fingerprint enables printing from iPad to all printers via PC or Mac.
http://www.collobos.com/
DropBox enables printing from DropBox, such as on your Kindle Fire.
http://www.howtogeek.com/howto/33088/print-files-from-anywhere-via-any-device-with-dropbox/
There are other ways, but these are among the least cumbersome.
