Three-dimensional printing, or additive manufacturing, produces three-dimensional objects using a digital model. Its utilisation has been observed across various industries, including the food industry. Technology offers a wide range of possibilities in this field, including creating innovative products with unique compositions, shapes, and textures. A significant challenge in 3D printing is the development of the optimal ink composition. These inks must possess the appropriate rheology and texture for printing and meet nutritional and sensory requirements. The rheological properties of inks play a pivotal role in the printing process, influencing the formation of stable structures. This article comprehensively characterises food inks, distinguishing two primary categories and their respective subgroups. The first category encompasses non-natively extrudable inks, including plant-based inks derived from fruits and vegetables and meat-based inks. The second category comprises natively extrudable inks, encompassing dairy-based, hydrogel-based, and confectionary-based inks. The product properties of rheology, texture, fidelity, and printing stability are then discussed. Finally, the innovative use of food inks is shown.