In this paper we report the development of a technique to characterize layer-specific nonlinear material properties of soft tissue in situ with the potential for in vivo testing. A Soft Tissue Elastography Robotic Ann (STiERA) system comprising of a robotically manipulated 30 MHz high-resolution ultrasound probe, a custom designed compression head and load cells has been developed to perform compression ultrasound imaging on the target tissue and measure reaction forces. A multi-layer finite element model is iteratively optimized to identify the material coefficients of each layer. Validation has been performed using tissue mimicking agar-based phantoms with a low relative error of ~7% for two--layer phantoms and ~10% error for three layer phantoms when compared to known ground-truth values obtained using a commercial material testing system. The technique has then been used to successfully determine the in situ layer-specific mechanical properties of intact porcine stomach. The mean C10 and C20 for a second order reduced polynomial material model were determined for the muscularis (6.41±0.60, 4.29±1.87 kPa), submucosal (5.21±0.57, 3.68±3.01 kPa) and mucosal layers (0.06±0.02, 0.09±0.24 kPa). Such a system can be utilized to perform in vivo mechanical characterization, which is left as future work.