If your printer is airPrint enabled Yes.
Air Print Basics
check the list there to see if your Printer is in it.
If the Printer is not AirPrint enabled, some manufactuers have made dedicatd Apps available in the App Store you can use to print to their printers.
It depends upon what make and model it is. The models that are listed on this page support AirPrint and they don't need any additional apps on your iPad : http://support.apple.com/kb/HT4356. If your printer isn't on that page then you could see if the manufacturer has their own app in the store, otherwise there are a number of third-party printer apps in the store that might work with it e.g. Print n Share or PrintCentral Pro etc