My 12 yr old grand nephew just loaded an app on my brother's ipad last weekend to do just what you are looking to do.
My brother says it works just fine.
I think it costs a couple of $ and I will find out what app it is and let you know.
I don't know what printer you have, Steve, but you might try looking at this article:
Wireless printing stuff [
macworld.com]
There are (new to me) specific printing apps from several manufacturers for their wireless printers. Some seem to work without Airprint. Perhaps one of those or Ron's suggestion might help.
