YES, you CAN print from an iPad ! !
My printer wirelessly connects. It is a monster "does-everything" one that my daughter gave me when she upgraded, and it "hides" in the back computer room. I can sit out here on the couch with my iPad, and when I want to print out something, I just tell it to print. It connects with the printer and prints it out.
I no longer bother to print out knitting and crochet patterns though , because I just save the pattern page in a folder on the iPad that I named "crafts", and then I access the pattern from the iPad. Nothing to get lost, or have to be stored anywhere; but I could print it out if I wanted to do so.
They make the wireless printers in all sizes; so you should be able to find one with the right size and capabilities to do what you need a printer to do.