Unless the ipad supports USB OTG or USB host mode, I don't see it happening. A wireless option would be your best bet.
When you say 3g only, do you mean you cant connect to a wireless router? you may be able to set up some kind of external remote into the home network solution. That would be rather complex just to print though.
The long answer is "The iPad does not support USB, so no printing without help. Your only real choice is to get a wireless router that supports USB printing and hook the printer to it, then connect the iPad to it wirelessly."
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