The use of additive manufacturing is growing in multiple sectors, including food, and its scientific and technological challenges form the subject of much ongoing research. One current hurdle is the implementation of the 3D printing process for meat protein matrices. This article gives an overview of the various 3D printers used to study the printability properties of foods and presents the development of a 3D printer designed to print food protein gels. Printhead development (flow rate and temperature control) and the modifications made to the printing plate (temperature control) are described and discussed in relation to the constraints highlighted in a first prototype. A second, developed prototype was characterized and validated. This last phase showed perfect control of the prototype in the purging of the extrusion system, the flow rate, the calibration and the displacement of the printhead, along with the temperatures at both printhead and plate. A study of the printed gels also revealed good repeatability of the printed gel geometry and pointed to new ways to improve the process. In the near future, the protein gels that will be printed from this prototype will serve as a base for texturizer-free functional foods for people with chewing difficulties.