It is possible to print from an iPad but in general you do not have the same flexibility as printing from a PC/Mac.
1. Email the document from the iPad.
Perhaps the simplest way to print a document you have created or worked on when using your iPad is to email the document to yourself. Make sure you email the document in a form that can be accessed on a PC/Mac. That is, send the document as a PDF or Word file rather than a Pages or Note. Then, jump onto your PC/Mac at home and print the document from there.
2. How to print from the iPad at home.
Use an Apple "AirPrint" ready printer. Prices start from less than $100. Examples include these:
http://store.apple.com/us/browse/home/shop_ipad/ipad_accessories/printers