With the Cloud Print Beta app, you are able to print files from your Xoom tablet to your printer. The app support for file types: pdf,jpg,jpeg,docx,ods,xls,xlsx,ppt,odp,txt,doc,xps
To get started printing, first connect to the internet through a laptop or PC . If you have a HP E-Print enabled printer, you don't need a computer. I tried Cloud Print BETA a few weeks ago and it worked quite well.
Download Cloud Print BETA (Free) from Android Market.