In general, no. Maemo does not include printer drivers, "Print" options in application menus, etc.

That said, if you have a printer that accepts Bluetooth connections, you should be able to send at least photos to it. Some printers may also accept PDF documents that way.

There have also been print servers made that accept plain text files via FTP, though they aren't common.

In the past, the community (specifically Penguinbait and debernardis) have put together printing support packages for Maemo that are based upon desktop Linux printing technologies. However, these add-ons have been huge installs and haven't made it as simple as tapping "Print" in any application. Still, their work has made printing at least more widely possible, and they (or someone else) may continue their work in the Maemo 5 era.

Please see bug #3099, "Network printing support".