You don't need to install drivers I don't think. Just download the app called PrinterShare by Mobile Dynamix. There is a free version in which you can test the app out and see if it suits you. If you like it you can buy the app.
Print PDF, Gmail, Google Docs, photos, contacts, agenda, sms/mms, call log and web pages directly from your phone to anywhere in the world!
Buy the Premium Key to unlock: Direct print to WiFi printers (no PC), Direct print to nearby printers through PC, No page limit