<p>Direct Ink Writing (DIW) is widely used in fields such as biomedical engineering, energy, and electronics due to its ability to print a variety of functional materials. However, the slow printing speeds of single-nozzle systems present a major limitation for complex geometries, rapid prototyping, and scalable production. While multi-nozzle systems offer potential solutions, they are often expensive, bulky, and limited in material compatibility. This study presents a novel, cost-effective multi-nozzle multi-material DIW system that enables simultaneous printing using bent nozzles arranged on a motorized rotating print head. Each nozzle is connected to an independently controlled syringe pump and can extrude a different material, significantly expanding the system’s versatility. The system’s capabilities are demonstrated through the fabrication of soft robotic components using elastomers of varying stiffness. By printing multiple materials concurrently within a single part, we achieved functionally graded structures with unique mechanical behavior, specifically, a gradual failure mode under tension compared to the abrupt rupture observed when single materials are used. This simultaneous multi-material printing approach not only drastically reduces fabrication time but also opens new possibilities for exploring novel material combinations and functional applications in additive manufacturing.</p>