The answer to your question may require a separate setup:.
If your printer is "cloud ready", then yes, you can print to it.
If not, you'll have to set up a computer in your home (not the Chrombook) which acts as a print server (cloud printing), where you go into a Chrome browser and set it up. You have to look up a simple procedure to activate it; there are many resources out there that show how to do this. The thing is, you have to make sure the non-Chromebook printer is on to print from your Chromebook. Once you set it up and remember to keep the other computer on, it's pretty good.