Contact HP for support. HP will have instructions on the necessary steps to connect the printer to a home router which will be exactly the same for your Jetpack. As long as you are within range of the Jetpack and connecting on the correct technology (2.4 Ghz vs 5.0 Ghz and wireless B/G/N) then your printer should be able to connect.
That being said I do not advise using any printer models over wireless. Wireless is bad enough let alone throwing in a printer into the mix. Folks who wish to wireless print are highly advised to spend the time setting up a static IP address for that printer to help with random disconnection issues.
If your Jetpack isn't working for any other devices then you may have a Jetpack problem that we can dig into.