Shape-Memory Polymers (SMPs) are a class of smart materials that have garnered significant attention due to their ability to revert to a predetermined shape upon exposure to external stimuli such as heat, light, or moisture. This unique property makes SMPs highly valuable in advanced manufacturing technologies like 3D, 4D, and 5D printing, where precision, adaptability, and multifunctionality are essential. In 3D printing, SMPs allow the creation of complex, customizable structures with potential applications in biomedical devices, aerospace components, and flexible electronics. Moving beyond 3D, 4D printing integrates the dimension of time, enabling printed objects to change shape or function after fabrication. SMPs play a critical role here, allowing for the design of self-assembling structures, adaptive textiles, and dynamic medical implants that respond to environmental changes. The emerging field of 5D printing further extends these capabilities by adding additional directional complexity and multifunctionality to printed objects, potentially revolutionizing industries like automotive engineering, biomedical industries, and robotics. This chapter explores the versatile applications of SMPs in these cutting-edge printing technologies, highlighting their transformative impact on manufacturing, material science, and engineering.