Depends on what you want to print but there is an app you can get called DropBox that you can put on your mobile device. You will also need to install it on the computer that you have connected to a printer. You upload your document through your app to your DropBox account and then it is ready to print on your home printer. You can send it from anywhere to your DropBox account.
Alternatively, you can purchase a mobile printer that you can connect to your mobile devices via USB or HDMI or even Bluetooth or WiFi. This isn't the best option since you will need to bring the portable printer with you when you need it.
If you want to print pictures then there are Kiosk type services at stores like Walmart, Walgreens, and CVS where you email the images you want to print to their service and then go pick them up in the store.