The present study focuses on the shape morphing behaviour of 3D-printed beams manufactured using Acrylonitrile Butadiene Styrene (ABS) filament subjected to thermal stimulus. The aim of this study is to explore the impact of various printing parameters, that is, printing speed, layer height, layer width, and nozzle temperature, on the shape transformation of ABS beams. The beams were printed using a standard Fused Deposition Modeling (FDM) printer and then subjected to thermal stimulus (in a thermal chamber). The level of deformation of the beams was quantified by taking the following measurements: chord of deformed structure, height of arc, and internal arc length. Increased bending deformation was observed when the printing speed, layer height, and layer width were higher. On the other hand, bending responses decreased with an increase in nozzle temperature. The shape transformation was also temperature dependent. ANOVA (Analysis of Variance) was performed accordingly to confirm the statistically significant influence of these parameters on the transformation of shape.