Google has launched Cloud Print, an online printing solution for Windows users which means you can print from your phone with Gmail for mobile and Google Cloud Print.
You need to connect your printer to Google Cloud Print. For now, this step requires a Windows PC but Linux and Mac support are coming soon.
To use Cloud Print you need to have a PC with Windows XP, Vista or Windows 7 running Google Chrome version 9.0.597.1 or higher.
More info: http://gmailblog.blogspot.com/2011/01/print-from-your-phone-with-gmail-for.html
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Cloud Print is reported to have not been working. Webestigate has posted a walkthrough on how to set it up. Details at: http://www.webestigate.com/2011/01/29/how-to-print-from-gmail-on-your-android-or-iphone-using-cloud-print/