Yes, but you need a special AirPrint enabled printer to do so.
But there's also another solution, if you already have a non-AirPrint printer, be it a network printer or just USB. The folks at Lantronix have created the XPrint server, a little box that connects to your wireless router. You can connect USB and network printers to it, and they will become available to your iPad. I believe the base (home) edition is about $100. There's also an office addition, which allows for more printers to be connected.