AirPrint-compatible printers have long been the only way to print from iOS devices; however, you don't need to splurge on a new printer to be able to print in iOS 13.
AirPrint was introduced with the release of iOS 4.2 in 2010 to allow iOS devices the ability to print without having to worry about finding printer drivers. It's a zero-config way to print from mobile devices (assuming you're on the same Wi-Fi network as the printer, then it all just works) that has been adopted by every iteration (and modern printer) since its inception.
However, if you have that old crufty laser printer in your basement, chances are you can still make it work with AirPrint as long as it's connected to a computer. In this tutorial, I'll walk through how you can easily print in iOS 13 with or without an AirPrint-compatible printer. read more here