<p>Four-dimensional (4D) food printing extends additive manufacturing by integrating stimuli-responsive edible materials that enable programmed transformations in food structure, texture, color, and nutrient release over time. This review critically evaluates the material-structure–function relationships governing these dynamic food systems, with emphasis on rheological requirements, transformation mechanisms, and process control strategies relevant to food production and processing. Printable bioinks typically require shear-thinning behavior and viscoelastic balance (storage modulus G′ ≈10²–10⁴ Pa) to ensure extrusion fidelity and structural stability while enabling post-printing responsiveness to external stimuli such as heat, hydration, and pH. Polysaccharide hydrogels, protein-polysaccharide composites, starch matrices, and lipid-based emulsions are examined as functional substrates capable of programmable swelling, gel contraction, phase transition, and controlled bioactive release. Experimental systems demonstrate shape deformation exceeding 70° under microwave activation and up to ~196% improvement in gel strength in protein-enhanced matrices, highlighting the role of compositional tuning and microstructural design. Strategies, including anisotropic infill architectures, gradient material deposition, and AI-assisted formulation optimization, provide improved control over deformation kinetics and nutrient delivery. However, industrial translation remains constrained by printing throughput, storage stability of metastable structures, and regulatory validation of stimuli-responsive food. Integrating material engineering, digital manufacturing, and predictive modeling will be essential for advancing 4D food printing toward scalable applications in nutrition, clinical diets, and adaptive food systems.</p> Graphical Abstract <p></p>