samsung galaxy note 10.1, print to HP officejet Pro 8100

I have a Samsung Galaxy Note 10.1 with Jelly Bean 4.1.2     I want to print using our HP Officejet Pro 8100.   And I wish to do that without using eprint or the cloud.     Can I do that using the wirless or through my desktop (HP Pavilion Elite 9220F) ?

By the way both my husband and I are very pleased with the HP Officeject Pro 8100.   We use it via our home wifi.