Q: Can I connect my wireless canon printer to my iPad and my iphone

Is your printer on this list?

About AirPrint - Apple Support

If so, then it should print natively. If not, then you can look to see if Canon has an app you can use. Or perhaps they have a partnership with some third party programs - for example Kodak would print via Google Docs. Or you can look to third party printing apps. I used to use Print n Share, but there are others.

Your wireless printer must support AirPrint. Not all wireless printers do. Check the list in the link provided by Skydiver119.