Yes, using ZeroTier. There is a ZeroTier smartphone/Tablet App as well.
What ZeroTier does is creates a reverse VPN between your home/work and you. Ideally you'd do this if you had OPNsense installed as your router/firewall.
Another way to accomplish this is to use a VPN like OpenVPN or Wireguard in your router using a third-party firmware like ASUS Merlin, OpenWRT, DD-WRT, etc. Then you can use an OpenVPN or Wireguard App and connect to your home/work and when you do it'll give you local Intranet access where you can access the printer like you were right there. You would most likely need to create a DDNS name with a DDNS provider like noip.com That way if your IP address at home/work changes the DDNS name will reflect the IP change. OpenVPN and Wireguard are supported in OPNsense as well.
This may be a little bit involved, but it'll work.
