Is there any way to print directly from the phone? I'm pretty sure the answer is "no" since printer manufacturers haven't yet started making drivers for Android (or iPhone). 

I guess I'm just curious if anyone has heard anything about this and if/when it will become a reality.  (or perhaps if it already is, and I'm just oblivious to it?)
That is a great question.  I went looking for that functionality back in the spring but only found apps that would let you print to wifi enabled printers.  

I just looked again and came across PrinterShare, which looks pretty cool.  Apparently you can print to a wifi printer, or with software installed on a local pc you can print over the internet to the attached printer.  I haven't had a chance to try it out yet and it looks a little pricey but seems promising.