A solid object printing system includes: a print table for mounting a solid object to be subjected to printing; a detection unit for detecting a position and an orientation of the solid object mounted on the print table; a print data generation unit for generating print data corresponding to the solid object on a basis of a detection result of the position and the orientation of the solid object performed by the detection unit; a print unit for performing printing on the solid object by the print data generated by the print data generation unit; and a control unit for controlling the operations of the detection unit, the print data generation unit, and the print unit.