have you added your printer to your phone? most major printer companies have apps to help you sync your phone to your printer. In most cases you have to make sure that your phone and printer are on the same wifi network.
So for me, I have my printer on my 2.4GHz wifi band, but on my phone I like to have it on the faster 5GHz band. So when I wanted to print something, I used to have to make sure my phone is connected to the 2.4Ghz band that my printer is on.
Similarly to what Mari_K mentioned, you'll likely need to have the app for your printer and you may have additional set-up steps depending on what model printer you're using is. I would recommend reaching out to the support team for your printer in order to see what sort of set-up is needed for this to work for you.
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did you download the app for your printer from the Google Play store? I have a HP printer, so I had to download the HP Print Service Plugin app to sync my phone to my printer, once I did that I stopped getting error messages when I tried to print documents from my phone. Most printers have an app in the Google Play store to help sync phones to printers easier.