How do I print articles?

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I keep seeing references to printing out favorite articles.  I haven’t been able to do this for years.  I use an Apple iPhone, iPad & PC computer.  Safari, Internet Explorer & sometimes Firefox.  Could someone tell me how others are successful at printing?  Thanks so much!

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rphmordechainisan

Still can not print using my ipad. What is posted for how to does not seem applicable. Would like to print  some articles that I can read and make notes on.