Notably for seniors, 3D food printing is an appropriate processing method for creating customized meals that meet their unique nutritional requirements and textural preferences. This study attempted to develop an ink for food 3D printers containing abalone powder and several nutrition properties that meet the criteria for senior-friendly foods. The texture of the products was adjusted using gelatin. The ink consisted of abalone powder (10%), soybean protein (4.5%), polydextrose (2.5%), vitamin C (0.0098%), and gellan gum (1%). To examine the physicochemical properties of the ink, texture, water holding capacity, and rheological properties were measured. In addition, the suitability of the 3D printing was examined. As a result, 3% gelatin 3D food printing ink demonstrated optimal printability and could be converted into foods that could be consumed in one step (teeth intake), depending on the types of food for seniors.