I set my HP printer up to work with Google Cloud Print so I can print from anywhere. Then I installed KumoPrint on my phone and it works great. You can also just use the eprint address like mentioned above, but I didn't like how it printed the email too.
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Oh, and like Blkacesvf41 mentioned, you can try HP AiO Remote. However, it appears to be in beta and has pretty bad reviews.
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