Heroku doesn't include the wkhtmltopdf binary, but you have two options to get it working there.
First is to build wkhtmltopdf from source on Heroku (using the Vulcan gem).
The second is to directly bundle wkhtmltopdf with your app. Read through this, this and this for guidance. Essentially, you have to downloading the binary executable into your app's /bin folder, push it to Heroku, and correctly configure wkhtmltopdf's settings from within the app.
P.S. The examples I cited deal with Ruby, but they give a good overview of what needs to be set up for wkhtmltopdf to work on Heroku. There is a sample Rails app pre-integrated with wkhtmltopdf for reference.