Soft capacitive sensors are widely utilized in wearable devices, flexible electronics, and soft robotics due to their high sensitivity. However, they may suffer delamination and/or debonding due to their low interfacial toughness. In addition, they usually exhibit a small measurement range resulting from their limited stiffness variation range. In this paper, soft silicone-based capacitive sensors are developed by using a customized multimaterial 3D printer. By curing silicone materials simultaneously, the continuous conductive and dielectric layers achieve a substantial interfacial toughness of 1036 J·m