iPads (and iPhones and iPod Touches) use iOS - your current version is shown in Settings > General > About > Version. You can't download drivers onto an iPad.
What printer is it ? If it supports AirPrint then it should just need to be connected to the same wifi network as your iPad - the printers that support AirPrint, and some info about it, is on this page : http://support.apple.com/kb/HT4356
Otherwise some printer manufacturers have their own apps in the app store which add support to mode models e.g. Epson have an iPrint app and HP have an ePrint app. There are also a number of third-party printer apps in the store which work with some printers e.g. Print n Share, PrintCentral Pro etc