The company will release AirPrint in November as part of the iOS 4.2 software update, but members of the Apple developer community have their hands on it already.
AirPrint will let users search for printers in their area and send files such as text, photos and graphics to them for printing.
The wireless system should make document reproduction and printing easier and simpler, and give mobile workers an additional tool when on the road, according to Apple.
AirPrint is designed for use with the iPad, iPhone and iPod Touch, and does not require the installation of drivers or additional software to work.
The first machines to support printing direct from iOS devices are HP's ePrint, Photosmart, Officejet and Officejet Pro lines.
"AirPrint is Apple's powerful new printing architecture that matches the simplicity of iOS - no set up, no configuration, no printer drivers and no software to download," said Philip Schiller, Apple's senior vice president of worldwide product marketing.
"IPad, iPhone and iPod Touch users can simply tap to print their documents or photos wirelessly to a printer shared on a Mac or PC."
