iOS/iPadOS uses a “driverless” print protocol known as AirPrint/
Non-AirPrint capable printers require installation of Print Driver software on the host computer to which the Printer is directly connected.
Apple AirPrint is a driverless connection protocol - that requires a compatible Printer to be wirelessly connected to your WiFi network. A high proportion of modern printers intended for Home and SoHo environments support AirPrint. If your printer is not compatible with AirPrint, your alternatives are limited.
Some printer manufacturers have a suitable companion App that provides Print capabilities for mobile devices, often using a web-based print service.
You might also consider connecting a non-AirPrint printer to your PC or Mac computer - and install a “helper application” that allows the computer to emulate AirPrint capabilities; one such option is Readdle Printer Pro, for which suitable software for your PC is available. A link to the PC software is included from this page:
https://readdle.com/printerpro
A further alternative is to consider installing a dedicated Print Server Appliance on your network - and connect your printer to this. One example is the Lantronix xPrintServer, although the cost of this solution may exceed that of your existing [basic] printer.
The remaining solution is to simply replace your printer with one that is AirPrint capable.