As a new food processing technology controlled by digitization, three-dimensional printing technology is featured with diverse shapes, material saving, and balanced nutrition. In modern food processing, more and more consumers have begun to pay attention to healthy food, which can not only alleviate the food shortage but also supplement certain nutrition. Therefore, the combination of 3D printing technology and these substances will become an important direction for the future development of modern food. Based on the discussion over equipment types commonly used in the process of 3D food printing, the current situation of the processing and application of 3D printing technology in health food is summarized. Approaches to improve the characteristics of 3D printed food are analyzed and compared, and the challenges and opportunities for these foods in 3D food printing in the future are predicted.