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HP Envy printers as well as well as other models are air print compatible.
You can find a comprehensive list here: http://support.hp.com/us-en/document/c02623193
Click the + sign to the right of "Which HP printers are compatible with Apple Air Print"
to see the different models.
Since you aren't using a computer you'll need to get a printer that has on on-screen display.
From the printer screen you will be able to set up the printer using the controls.