Q: AirPrint to Samsung ML-2165W printer

I do not see it on the list of supported printers here:

http://support.apple.com/kb/HT4356

printing to a non-airprinter from an iPad

To print from the iPad, your going to have to install some more software:

-- install a printer app on the ipad. many printer makers have iPad applications for their printers.  Look in the app store

-- install enabling software on a computer which you have connected the printer

For a comprehensive list of links,

   see Texas Mac Man list:

     https://discussions.apple.com/message/21291967#21291967

   or

     http://ipadhowtouseit.com/ipad-printing/

iPad Print Applications supplied by printer manufactures -- usually free:

Samsung

     http://itunes.apple.com/us/app/samsung-mobile-print/id429611283?mt=8

Helper app -- /print n share

Print directly to the widest range of network or WiFi printers available in any app. Alternatively print via your computer to ALL printers including USB & Bluetooth printers. View read and display large PDF, Office & iWork files. Easily transfer & store files from the Cloud or your computer.

https://itunes.apple.com/us/app/print-n-share/id301656026?mt=8

Generic Software:

You can connect the printer to a computer and install software on your computer to print from your ipad to the comptuer then to the printer.

Software for your computer's printer:

Enterprise level support for Mac and Windows

   Presto

    monthly subscription fee

    http://www.collobos.com/index.html

     Makes any printer AirPrint® compatible so you can print from an iPad® or iPhone®. 

     Reportedly works for any router.

     http://www.netgear.com/landing/genie/default.aspx

Mac software

Printopia

   http://www.ecamm.com/mac/printopia/

handyPrint  -- donationware

   http://www.netputing.com/handyprint/