<p>This paper presents a fully printable sensorized soft finger with simple contact detection and dependable bending feedback. A soft robotic finger and a flexible resistive sensor were fabricated using multi-material fused deposition modeling (FDM) 3D printing technology. The flexible sensor was integrated into the finger and carefully tested to characterize and evaluate its response under variable input pressure. Flexible conductive materials were used to wire a circuit designed to improve sensory feedback. Initially, a strain sensor with two tracks was created, followed by designs with multiple tracks and different thicknesses. Following comprehensive data collection and analysis, the optimal configuration was identified. The sensor was connected to a Wheatstone bridge circuit, and the sensor’s response was evaluated using a microcontroller to collect and analyze the data. Systematic testing confirmed the sensor’s effectiveness in providing reliable bending feedback and contact detection. A practical relationship was derived using regression and validated under untrained input conditions to evaluate accuracy. Additionally, the sensorized finger was tested to assess contact detection by comparing constrained and free-bending responses at the same input pressures. The results demonstrated how multi-material fused deposition modeling (FDM) technology can be optimized to fabricate highly customizable flexible resistive sensors, providing reliable bending feedback and basic contact detection. The integration of such sensing capabilities into bending a finger enhances their functionality and reliability for applications in controlled soft grasping, flexible wearable technologies, and haptic devices.</p>