1] Your Canon camera must have come with a disc for processing the images from RAW, or you can use several other programs.
2] You really want to process the RAW images first by adjusting as many values as it takes to get the image to your final adjustment.
3] Having the file in RAW is a major advantage as it can be altered in many ways and the original file is preserved as it was taken.
4] Converting the RAW image to tiff or jpg.
Tiff is going to be the best, but requires huge file storage to do so. Your camera's average file size in Raw will be roughly 10MB lets say.
When you alter it to Tiff afterr making changes to it and save it as a Tiff, it may be a file size of 20 MB. This is fine if you want a referenced saved file always handy for later. Most printers should be able to print from this file.
Only your computer can preview RAW files, and this is why a printer can not see it, as well as other computers that don't have the image software loaded to view it.
5] Saving a converted RAW image to jpg can be done in many file sizes and come in handy for email to printing rather well.
It's true the more you handle jpgs their quality goes down when re saving the image to other sizes or making changes to them.
This is why you want to use the original saved Tiff to make the copy you want.
Well that's the low and simplest end of processing RAW data.
** One tip I'll throw in here.
When you have imported your images to computer from the Camera Card, always leave images on the card till you are fully satisfied that the images are saved to file first before deleting the images off the card.