If it's not a cloud based printer you can use Chrome to bridge the print job.
http://www.google.co.uk/cloudprint/learn/
https://play.google.com/store/apps/details?id=com.google.android.apps.cloudprint - You don't need this as it's built into KitKat.
http://www.google.co.uk/cloudprint/learn/
https://play.google.com/store/apps/details?id=com.google.android.apps.cloudprint - You don't need this as it's built into KitKat.