This question has come up several times lately with our clients. We decided to share a terrific CNET article and video on how to print wirelessly from your iOS devices. It is a very easy step-by-step process. There is also an instruction on how to print to a regular printer–this involves a couple more steps, but is also very easy to do. We tried it on both a Mac and PC and it worked great. Below is the link to the CNET article:
http://www.cnet.com/how-to/how-to-print-wirelessly-from-your-iphone-ipad-or-ipod-touch/