Hi,
It all comes down to whether the Printer supports wireless connection or network printing, which most do.
On the PC: Settings → Devices → Printers & scanners → Add a printer or scanner. The connected printers automatically will be shown.
There is another thing called Manufacturer cloud printing: for HP printers, the HP Smart app supports HP+ connected printers, letting you print to a printer anywhere as long as both the printer and the app are linked to the same HP account and the printer has internet access.
I’m eager to hear back and work together to find a solution.