If you’ve purchased an Internet-connectable printer over the past year or so, chances are it’s already pre-configured with Google’s “Cloud Print” — the technology that will let you print from your Android. You can view a list of Google Cloud Print-compatible printers here along with instructions for how to activate Cloud Print on your specific model (instructions vary model-to-model).
If your printer can’t connect to the web, don’t worry — Google also offers instructions for how to connect a “classic” printer (i.e. one without web access) using the Chrome browser on your desktop.
Then, it’s just a matter of installing the Google Cloud Print app on your Android phone/tablet and hitting “print” on your favorite photos. If you want a visual walk-through of how to set this all up, CNET has a nice video below which should help you. Happy printing.