Recently, design for additive manufacturing has been proposed to maximize product performance through the rational and integrated design of the product, its materials, and their manufacturing processes. Searching design solutions in such a multidimensional design space is a challenging task. Notably, no existing design support method is both rapid and tailored to the design process. In this study, we propose a holistic approach that applies data-driven methods in design search and optimization at successive stages of a design process. More specifically, a two-step surrogate model-based design method is proposed for the embodiment and detailed design stages. The Bayesian network classifier is used as the reasoning framework to explore the design space in the embodiment design stage, while the Gaussian process regression model is used as the evaluation function for an optimization method to exploit the design space in detailed design. These models are constructed based on one dataset that is created by the Latin hypercube sampling method and then refined by the Markov Chain Monte Carlo sampling method. This cost-effective data-driven approach is demonstrated in the design of a customized ankle brace that has a tunable mechanical performance by using a highly stretchable design concept with tailored stiffnesses.