The purpose of this study was to develop a printing technology with muscle cells for soft robots. Recently, in order to develop robots with the flexibility and environmental adaptability as living organisms, muscle cells have been used as a material. Howerver, It is need resechers knowledge and technique to create muscle cell robots. In the first year, printed muscle cells by the 3D bioprinter contracted in response to electrical stimulation, but the contraction occur only in a part of the muscle surface. In the second year, we investigated the composition of the gel to increase contraction force. We observed the contraction in response to electrical stimuli was larger than that of the previous year.