Google just made the announcement the Cloud Print service for mobile is now in beta stages and will be rolled out to users throughout the next few days. All you have to do is open the email or document, and hit print.
Obviously you’ll need to connect you printer to the Google Cloud Print service but once you’re set, you’re good to go (you’ll need a Windows PC for this step though, Linux and Mac support is on its way).
The update will be for devices running Android 2.1 and above and iOS 3+. Look out for the update soon.