Usually, when you print with color management you need to specify two basic things - the media type and the ICC printer-media profile. Are you printing with this type of workflow, or are you letting the printer manage the color?
I do not use the Canon 100 printer, but it probably comes with software that includes ICC profiles for various Canon papers. Take a look at the choices and pick the ICC profile and paper type that most closely matches the HP paper you are using and see what you get. All of this assumes that you are working in a color-managed workflow where your image is being accurately displayed on screen, etc. You can also download printer test images that are "correct" so that even if your display is not accurate, you can trust that the color and tones in the test image are properly balanced, etc., for print output.
Also, make sure that you are printing properly, whether you are choosing to let your color management system do the work, or letting the print driver do the work. If you double color manage a print, it will look terrible in many cases - for example, if you do not turn off color management when letting the print driver translate the color.
What application are you printing from?