I have an HP printer that's about 7-8 years old, USB only.
I set everything up in Google cloud print, and use an app called "Cloud Print" from the Play Store.
Works great. I think I paid about $1.50 for the app. Contrary to what the instructions say for the app, I don't need to have Chrome running, or keep my printer turned on. When I'm ready to print, I tap the print button in the app, and my printer turns on and works fine.