The ambient environment is an expanse of energy sources, including radio frequency (RF) and its advantage of accessibility in fast-growing economies. The current traditional planar antennas employed in ambient energy harvesting missions encounter constraints such as their considerable electrical size for capturing ambient energy from low-frequency sources and losses from the dielectric material, which diminishes their potential use cases. The performance of a 3D-printed dielectric substrate derived from barium strontium titanate (BaSrTiO3) was compared with the traditional FR-4, Panasonic Megrton6 and Rogers (RT Duroid 5880 substrate in antenna design). The 3D-printed substrate possessed a lower loss tangent than the FR-4 and demonstrated superior performance, including higher radiation efficiency, increased gain, and a smaller antenna dimension. Compared with the Panasonic Megrton6 and Rogers substrates (RT Duroid 5880), although the 3D-printed substrates may yield lower radiation efficiency, they offer the distinct advantage of smaller and lighter antennas. Hence, by leveraging hybrid and advanced manufacturing (including additive manufacturing) of electronics (AME) techniques, this study proves the viability of 3D-printed antennas for applications such as energy harvesting, telecommunications, etc. This contribution is poised to bolster more robust and reliable planar antennas used in ambient energy harvesting missions, showcasing the innovative use of 3D-printing technology in manufacturing antennas optimized for the rigorous demands of energy.