Q: how can i configure or how can i use my ipad to print on a printer using wireless

If your printer is airprint enabled, it'll print natively.

iOS: Using AirPrint

explains it and has a link to a list of supported printers

If your printer isn't on that list, you still have options.  Your printer's manufacturer may have an app or accommodate things like google docs or the such. You'd need to research this on  your manufacturer's site.

Or there are third party printing apps. I've used print n share, but there are several others out there. You'd just need to research and find one that looks good to you.