Assuming you have a connection to a printer from your iPad it should be possible.
From the Export menu, if you select Full Document then choose your printer it should be printing.
My settings were Format: jpeg, Color model: RGB, Quality: High, Resolution: High Embed ICC profile was checked. The first run I had all artboards selected and received a blank page, so I tried again with Full Document as the marked option then it printed the image.
It's also worth noting, I had one image which did print and another which gave me a blank sheet from my printer.