I wonder why we need to route printing activities over Cloud Print to print on a printer installed at home.
Fortunately, I have an HP F735 deskjet printer which does not have wireless printing capability and I need to print from an Android phone to it. The only way was to use a USB OTG cable, available. So, first get a good USB OTG cable.
Next, to print on the HP Printer from an Android device, you need to download and install the HP Print Service app for android app from the Google Play Store. After installation, plug the OTG cable to the android device and then connect the printer to the OTG Cable.
Now you are ready to print. When printing, select System Print Service from the menu that pops up and you can see that the HP printer appears in the list of USB devices. Select it and the printing should start.
Fortunately for us, the HP Print Service plugin has USB support and it works like a charm. If you have a Canon printer, then there is no such luck and you cannot use the USB OTG cable to print to the printer, unless you use a commercial app.