Usual would be configuring the printer to connect to the Wi-Fi, and using AirPrint.
If the printer lacks AirPrint support, you will need an app from Canon if available, or a hardware box with AirPrint, or a software app for macOS or Windows that provides AirPrint. For the latter approach on Mac, Printopia is one that might work. Or on PC, maybe Presto.
Or replace the printer with one that provides the necessary features. (Pragmatically, the proper printer is usually easier, and you won’t have to keep both the printer and the printer-server running.)