If you have a wireless printer you can. Just go through the setup screens on your printer, basically it will search for available networks, click on your wifi modem and enter the password. You'll have to have the printer's app installed on your device.
i have gone through the setup on the printer and was successful for one document, but when I tried to print another document I had to go through the setup again on the printer, before it would print the second document. What's going on?