The term is AirPrint and no.

As Sylv suggested, all you need to do is either:

a. If it's not a network-compatible printer, connect the printer to a Mac, turn on printer sharing, install Printopia (or something like it). As long as the Mac and printer are on, the printer will "show up" as being available to print on the iPad.

b. If it IS a wi-fi capable printer, the printer manufacturer VERY LIKELY has a free app from the App Store that will let you print directly to the printer wirelessly. There's also a program called Air Sharing HD that should work as well, though I haven't needed it (my printing needs from the iPad are low and I use Printopia on a connected Mac).