The growing demand for efficient energy storage systems, particularly in portable electronics and electric vehicles, has led to increased interest in supercapacitors, which offer high power density, rapid charge/discharge rates, and long cycle life. However, improving their energy density without compromising performance remains a challenge. In this study, we developed novel 3D-printed reduced graphene oxide (rGO) electrodes coated with polyaniline (PANI) to enhance their electrochemical properties. The rGO 3D-printed electrodes were fabricated using direct ink writing (DIW), which allowed precise control over thickness, ranging from 4 to 24 layers. A unique ink formulation was optimized for the printing process, consisting of rGO, cellulose acetate (CA) as a binder, and acetone as a solvent. The PANI coating was applied via chemical oxidative polymerization (COP) with up to five deposition cycles. Electrochemical testing, including cyclic voltammetry (CV), galvanostatic charge/discharge (GCD), and electrochemical impedance spectroscopy (EIS), revealed that 12-layer electrodes with three PANI deposition cycles achieved the highest areal capacitance of 84.32 mF/cm2. While thicker electrodes (16 layers and beyond) experienced diminished performance due to ion diffusion limitations, the composite electrodes demonstrated excellent cycling stability, retaining over 80% of their initial capacitance after 1500 cycles. This work demonstrates the potential of 3D-printed PANI/rGO electrodes for scalable, high-performance supercapacitors with customizable architectures.