Q: Is there any way to print to a non-AirPrint printer from an iPAD?

Check if Canon have an app to enable printing

Email the document to you're self. Open it on your computer and print it from there.

As Csound1 suggests, there is a Canon supplied app in the App Store:

https://itunes.apple.com/us/app/canon-print-inkjet-selphy/id664425773?mt=8

This app will not provide nearly the capability of AirPrint, but you will be able to print some things from your iPad.

printing to a non-airprinter from an iPad

To print from the iPad, your going to have to install some more software:

-- install a printer app on the ipad. many printer makers have iPad applications for their printers.  Look in the app store

-- install enabling software on a computer which you have connected the printer

For a comprehensive list of links,

   see Texas Mac Man list:

     https://discussions.apple.com/message/21291967#21291967

   or

     http://ipadhowtouseit.com/ipad-printing/

Helper app -- /print n share

Print directly to the widest range of network or WiFi printers available in any app. Alternatively print via your computer to ALL printers including USB & Bluetooth printers. View read and display large PDF, Office & iWork files. Easily transfer & store files from the Cloud or your computer.

https://itunes.apple.com/us/app/print-n-share/id301656026?mt=8

Mac software

Printopia

   http://www.ecamm.com/mac/printopia/

handyPrint  -- donationware

   http://www.netputing.com/handyprint/

Should you have some office printer that are connected to a computer there are print enablling applicaionts you can run on the iPad to print to such printers.

For Windows, try:

   O'Print

      http://oprintware.com/

   PrintCentral

     PrintCentral is the supreme printing app for the iPad, iPhone or iPod Touch

     A real DEBE -- does everything but eat.

     http://mobile.eurosmartz.com/products/printcentral.html

Mac and Windows

"WePrint enables printing to shared printers for iOS/Android devices from our range of printing Apps."

http://mobile.eurosmartz.com/downloads.html

Try printing peer to peer. See if your printer shows up in the choice of wifi options on your iPad.. If it does install it as your wifi and you can print directly to it.