I'm an Android user and have a Windows 10 PC. I also have an HP LaserJet printer.
Yes, you can print from your tablet to the printer... I use Samsung Cloud Print and the HP Print Service Plug in. Once you set up the printer (either manually or by WPS), you should be able to select it and print to it.
For example - if I'm in Microsoft Word I can finish the document and select 'Print' in the menu. It may take a couple of seconds for it to identify the printer and connect to it, but then I tap the PRINT icon and... it prints.
I have complained ad nauseum to HP about their brainless HP Smart app - it can print local files and files on Google Drive or Dropbox. No option to add other cloud services like, oh, OneDrive. In fact, I emailed the developer of HP Smart yesterday about that.
Please let us know what printer you have, what process you are using to connect and where you are getting stuck.