This paper presents a means to modify the attributes of okara fiber using ultrasonic and high-speed shearing treatment. The results of scanning electron microscopy and differential scanning calorimetry reveal that the modified okara fiber demonstrates small particle size and high thermal stability. When the 500 W–15,000 rpm combination is used for okara-fiber treatment, the latter exhibits excellent swelling (SC) as well as water- and oil-holding capacities. When 6% of modified okara fiber is added to the dough, the resulting cookies demonstrate the best printing performance. Subsequently, the printing parameters can be optimized to obtain the best filling rate of 30%. The corresponding nozzle diameter and printing speed equal 0.8 mm and 50 mm/s, respectively. Finally, the 3D-printed cookies containing okara fiber are compared against those commonly available in the market via sensory evaluation. As observed, the 3D-printed cookies were more acceptable to people. Therefore, the addition of the okara dietary fiber to the cookie dough not only improves the okara utilization rate but also increases the dietary-fiber content in the cookie, thereby alleviating the occurrence of obesity in modern society.

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