Concern about food waste has become a major global concern. The waste generated by the agri-food industry poses an environmental challenge. However, the development of 3D printing technology offers an opportunity to address this problem. By incorporating food waste into inks, it can create personalized food tailored to individual needs. The aim of this study is the valorization of orange by-products (OBP) in 3D printed gels to obtain a final product in the form of a fiber-enriched snack. Gelatin gels were printed with different concentrations of apricot pulp (30, 50, and 70%) and OBP was added. These gels were subjected to a freeze-drying process. The rheology of the gels before and after printing, the printing precision, and the post-treatment of the freeze-dried product, including color, shear force, and the presence of bioactive compounds, were evaluated. The addition of OBP resulted in an increase in the elasticity (997–1242u) of the samples and improved the printability of them. However, an increase in the hardness (173–184u) was observed in the freeze-dried samples. The use of OBP not only improves the printability of the gels but also enables obtaining fiber-enriched snacks, which could contribute to the reduction in food waste and the promotion of healthy and sustainable food.