Let me get this right, if your canon camera has wifi built in. If your printer isn't wireless you won't able too. To make it able to print it from the canon camera (wifi) you will need a wireless printer.

put the photos onto your computer and print them from there

Depends on which model "hp printer" you have and how it connects to anything.

Some are wireless, some use a cable to a network, some use a cable to a computer or a tablet, or even to a camera.  And some cameras can do printing like that, even a few of the "canon" brand ones.

You might read the printer's user guide, or the camera manual, or both.  If you don't have them, they are available on line.

That is all I can guess from your information, which isn't much.

Print from the computer.