If you don't mind leaving your computer on, Fingerprint (PC or Mac), or Printopia (Mac only) will make your computer pretend to be an AirPrint printer and make it's printers available to the iPad. They will also let your print PDFs to folders on the computer, and in Printopia's case open the PDF in a program like Preview.
AirPrint Activator (that heybutch1 mentioned) is a free way of doing the same thing, but with no extra features and more steps to set up.
All of these run on your PC or Mac, not the iPad, and will work with any app that uses AirPrint; including Pages.
Print n Share (app for the iPad) may also work for you. It works with most wi-fi printers. It has to be running in the background for the AirPrint feature to work.