ways to print with ios devices such as ipads
1. the printer support apples generic airprint interface and is connected to the same wifi network About AirPrint - Apple Support
2. find a printing app in app store which support the model of printer (many manufactures have apps I use one from Samsung for my wifi Samsung printer)
3. not sure if it still the case but awhile back if one installed netgear genie on a computer it would make all printers it had drivers for work as airprint enabled printers for ios devices on the network
ways that will not work is usb connected or the likes directly to the ios device