Yes you can.
Princh allows you to print (almost) anything.
If you try to print documents from Google Docs app on smartphone:
- Open the document you want to print in the Google Docs app.
- Press the three dots at the top right , to open the settings menu.
- Press "Share and export"
- Press the "Send a copy" button and save it as a PDF-file.
- Choose the Princh option.