A method for generating a three-dimensional patterned soft structure, including the steps of providing a soft supporting substrate, providing a drop-on-demand system with a device for varying the velocity of the jetted droplets, providing a liquid ink, jetting the liquid ink towards the soft supporting substrate with the drop-on-demand system, controlling an injection depth of the liquid ink into the soft supporting substrate by varying a jetting velocity of the liquid ink; and depositing droplets of the liquid ink over a volume of the soft supporting substrate, thereby generating the three-dimensional patterned soft structure.