You've been able to set up Google's Cloud Print option for remote access to your printer for a while, but that requires a little twiddling in Chrome. If you're using an HP wireless printer with ePrint capabilities, however, you should now be able to set up direct access without needing a separate connection and then print from most Google mobile apps.
I say "should" because so far my own attempts to get Google Cloud Print set up on a compatible HP printer have been an absolute failure, resulting only in the error message pictured above. I've generally found that wireless apps for this printer have been pretty poor, so that's no entirely surprising. With luck, future implementations won't cause anywhere near as much hassle.