Yes, it is possible to print from a printer without AirPrint, AirPrint is the app native app for IpadOS that allows users to print from the device to printers, there are other alternatives to AirPrint that is not native to IPadIOS.
PrintCentral Pro is an app that’s available for IOS and iPadOS that allows you to print to any printer connected on the network from your Ipad or iPhone devices.