Is the printer connected to the same wifi network as your iPad ? If so then (from here) :
You can print from the Apple applications iBooks, Mail, Photos, and Safari. App store apps may also offer this feature.
To print, follow these steps:
Once they are on the same network, thenipad should detect the printer, and in the "action" button one of the choices for a printable app should be a choice to print. Visit http://support.apple.com/kb/HT4356 for better instructions.