I trust you can print from your Kindle Fire with:
a Wi-FI printer
or on the other hand a printer associated with Google Cloud Print (expects you to have Google's Chrome Browser)
The following thing you would require is an application to print from your Kindle Fire to the printer. There are a few print applications in the Amazon App store, here are a couple of I found: (recorded arranged by star positioning)
PrinterShare Mobile Print
Cloud Print Beta (not good with first era)
I haven't by and by attempted these out yet from a portion of the surveys they may work for you relying upon your printer and how you have it associated. If still you have some queries about this I personally suggest you to visit Kindle Fire Support.