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This paper introduces a novel approach to 4D printing tailored structures with reversible two-way shape-memory effect (SME) through material extrusion technology. To this aim, methacrylated poly(ε-caprolactone) (PCL) was synthesized and evaluated from a rheological perspective to determine its suitability for extrusion-based printing. Following a printability assessment, an optimal set of parameters was identified to fabricate 3D structures, UV-crosslinked during printing. Subsequently, a physical and thermo-mechanical characterization of the printed structures was conducted to deepen the understanding of the fabrication process and properties of the obtained structures. To assess the shape-memory properties of the printed structures, both the one-way and two-way SME under load were investigated. Overall, this study opens the floodgates to implementing 4D printing via material extrusion technology …