You will need an app.
Depending on your printer, your printer OEM may make an app, or you can use something like PrintBot or PrinterShare. If you have Chrome installed on your PC you can enable Cloud Print through your google account and install the Cloud Print app on your TF.
To print, use the "Share" function in the app (cannot do it from some apps like GMail or Email).
For more details, do an advanced search for "Print" in titles of threads only.