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There are a couple of apps that do this.
Printer Share is supposed to do this. I use it, but have it set up to print using their PC software on my computer. The nice thing is I can print to my home computer/printer from anywhere (not just when I'm at home).
There is also Google Cloud Print, which still uses the same device-to-PC-to-printer setup. The main difference is that it is free. I have Cloud Print set up on my laptop, so I can print to my laptop when at home, in the office, or anywhere I have my laptop and access to a network printer (like when I go to my parent's home in Boston). I don't have to be on the same network as my laptop, just as long as my laptop is turned on and connected to the network, I can be anywhere.