Utility for printing jpg of pdf documents from your phone via Wi-Fi and server on computer with printer installed. All you need to do is to start the server, configure "Print it" application settings on your phone and then just send document to "Print it".
Download server and get "How to" you can on https://sites.google.com/site/printitandroid/
Note: you should have java installed on you computer to run the server

Screenshots: