The recently discovered topological magnetic skyrmion spin texture promises future innovative memory and logic devices owing to its nanoscale size and low driving current density. [1-4] Concerning their nontrivial real-space topology, skyrmions exhibit many intriguing properties, [5-8] such as the topological Hall effect, [6] the skyrmion Hall effect, [9] and the rich ferromagnetic resonance states. [10] Furthermore, long-range ordered and disordered skyrmion lattices also give rise to fascinating phenomena like a chiral magnon state [11,12] and skyrmion glass state, [13] thus providing an arena for exploring topological physics, [14,15] nonreciprocal responses, [16] and unconventional spintronic devices. [17,18] To further elucidate the physics of skyrmions and their lattices, the crucial task is to create skyrmions in a controllable manner. The emergence of magnetic skyrmions, topological spin textures, has aroused tremendous interest in studying the rich physics related to their topology. While skyrmions promise high-density and energy-efficient magnetic memory devices for information technology, the manifestation of their nontrivial topology through single skyrmions and ordered and disordered skyrmion lattices could also give rise to many fascinating physical phenomena, such as chiral magnon and skyrmion glass states. Therefore, generating skyrmions at designated locations on a large scale, while controlling the skyrmion patterns, is the key to advancing topological magnetism. Here, a new, yet general, approach to the "printing" of skyrmions with zero-field stability in arbitrary patterns on a massive scale in exchange-biased magnetic multilayers is presented. By exploiting the fact that the antiferromagnetic order can be reconfigured by local thermal excitations, a focused electron beam with a graphic pattern generator to "print" skyrmions is used, which is referred to as skyrmion lithography. This work provides a route to design arbitrary skyrmion patterns, thereby establishing the foundation for further exploration of topological magnetism.