galaxy note 10.1 tablet

You should be able to. I have on my phone a bunch of times. I have a HP printer and there is an app you can download for it. It might depend on the printer type but I know from a android device it is possible.

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I think iy depends on what kind of printer you have. Luckily, I can use an app for my Brother printer.
 
Yes. Pretty easy on any wifi printer with Google cloud print or one of many specific manufacturer apps.

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