As of iOS 4.3, you can only print to special printers that support AirPrint.
Unofficially, you can download an application to install on your Mac, that will allow you to print to a shared printer connected to your Mac.
An earlier beta version of iOS and Mac OS X allowed printing to any Mac, but it was pulled out of the official release. Maybe it will make its way back into a future version of the OS.
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