Not really though. You're correct that is the way for Windows Phone 8.1 apps to be able to print, but Windows 10 Mobile has native system-wide printing for a couple thousand printers. Unfortunately, there haven't been too many apps to include support for that yet, though it's something that any UWP app can do.
Edge doesn't, and most of the PDF readers haven't been updated for Windows 10 yet (the ones that have been updated don't include printing support at all). Maps, Office, and some other built-in apps have true Windows 10 Mobile printing support, as mentioned in this thread, but there's no PDF equivalent as of yet.