It sure is. If you don't have a printer already, make sure that you purchase one that is a network printer. It will attach to the router via ethernet port, or you can buy one that has wifi built in (tell it to connect as a wifi client, set it up as a printer).
If however you plan on using an existing printer that is neither a network printer or a wifi enabled printer, you'll need to enable print sharing on the host computer (the one the printer is attached to) and leave that computer on all the time. You'll only be able to print to the printer when the host computer is up and connected to your network.
But this is all assuming you have a wifi network already set up. Apologies for the vague response, but your question was vague as well. More information about your setup/desired setup might garner more complex answers.