The iPad supports printing to specific printers that support AirPrint (a driverless method for printing). However, an app must specify it can print, just like on a PC. And the Kindle app doesn't say it allows printing.

You can take a screenshot of the page, by pressing the top and front physical buttons at the same time. They appear as images in the camera roll, and can be imported to a PC just like any photos from a digital camera. Probably not the best way to go, but also not as bad as taking a picture of the device.