Advances in 3D printing have enabled new interdisciplinary applications in archaeology and forensic sciences. This paper presents the design and kinematic formulation of a customized spherical 3D printer developed for reproducing human skulls and facial muscles based on digital facial reconstruction. The complete forward and inverse kinematic models are derived using Denavit–Hartenberg parameters to define the positional configuration of the printer head. A key contribution of this work is the slicer software generation of toolhead trajectories for printing reconstructed facial muscles with complex curvature. The trajectory of the spherical printer head is dynamically adapted to the anatomical surface geometry, ensuring accurate material deposition on concave and convex regions. The printer also features a modified spherical hotbed optimized for skull and muscle reconstruction. The proposed system supports more efficient and anatomically faithful fabrication, contributing to improved visualization and preservation of human remains in archaeological and forensic contexts.