How do I print from my ip

iOS devices use AirPrint. Your printer must support that technology. Here's info on AirPrint that includes a list of supported printers. See if your printer is includes in the list.

About AirPrint - Apple Support

Hello,

In any application on iPad tap the action button (square button with upward facing arrow) -> Print.

You need an AirPrint printer on the same WiFi network.