unless the printer model clearly state that it would support being printed to from an ios device
then it would never work
on "normal" computers one install a device driver made by the printer maker in order for the computer to be able to print to it
device drivers are not a thing on ios
this leaves 2 ways for one to print on ios
use an airprint enabled printer (it was to address the no driver situation on ios that apple made a generic printing format which printers can implement and be able to be printed to by ios devices)
use a printer where the manufacture made a printing app in app store which enable the app to print this can be both over wifi and usb and bluetooth depending on the the manufacture made.