I know that sounds odd but printing from Android is well discussed.
The printer is on a network so printing may be possible as it's already there. But as you imagine, setup is never the same exact steps. There are guides but you have to apply yourself or pay to have it done. Those that won't use google to do the research usually end up paying for the setup.
How do I print docs & web pages on an Android tablet? Can I setup my network printer on my Android tablet?