I've been printing through Google Cloud Print. There's a third-party app called Cloud Print
here. That's the one I've been using. When I went to look for it to make the link in the previous sentence, I discovered that Google has
their own app, also called Cloud Print.
The third-party app has worked flawlessly on both my phone and my tablet. It adds an entry in the share options. So when you share a document or something and choose Cloud Print, it magically appears on the Canon printer on my desk. You do have to set up Cloud Print beforehand through Google.
I just downloaded Google's version of the app, though it's hard to guess how it might be better than the other one.