There are apps that have different levels of capability in this area, Print Central comes to mind, although I haven't tried it. Shop diligently, and you may find one that does what you need. App Shopper is a great app for researching different options (faster then the app store).
There is a cannon app that prints pics. I have been taking screen shots and then printing them out as a pic. Its a work around but it it does work. I am using a Cannon MX870 printer.