Embodiments disclosed herein describe a method of fabricating soft, flexible fibers using a 3D printer having an extrusion head. Embodiments of the method further include termination techniques to allow a series of fibers to be fabricated on the same object. Aspects of the certain embodiments offer a range of design parameters for controlling the properties of single strands and also of bundles of fibers. The method extends the capabilities of 3D printing without requiring any new hardware.