Two-way shape memory polymers (SMPs) have received much attention due to their ability to enable stimuli-responsive reversible structures without requiring repeated human intervention, which may be useful for application in many fields where multiple actuation cycles are desired. However, many layered or composite SMP systems are not integrated structures and suffer from several disadvantages, such as poor interlayer adhesion with limited actuation repeatability. In addition, twoway SMPs are limited by their manufacturing method to producing userdefined, complex, high-precision devices and parts. In this work, we developed a 3D-printable resin comprising two polyurethane-based oligomers with distinctly different transition temperatures�polypentadecalactone diacrylate (PPDLDA) and polycaprolactone diacrylate (PCLDA)�together with other monomers to fabricate single-network two-way shape memory smart materials by digital light projection 3D printing. The chemical, mechanical, and thermal properties of printed products can be easily tuned by facile manipulation of monomer and oligomer compositions. The PCLDA and PPDLDA switching segments were found to exhibit high mean shape fixity ratios (R f ) of >97% and high shape recovery ratios (R r ) of >89%. The strategy for achieving 3D-printable single-network two-way SMPs presented herein holds promise for applications in soft robotics, medicine, and so forth.