I have a Canon Pixma MP620 setup on my desktop PC and I have it sync'd with Google's Cloud Print Beta. The Canon MP620 also has a wi-fi connection so anyone on my home network can print, even if the main PC is off. I downloaded Cloud Print BETA from the market (Xoom) and installed / configured it. I can now print from my Xoom to my MP620. While it's not perfect by no means, it's a good start.