3D printing of soils is an emerging automation technology that has the potential to be used in a wide range of geotechnical applications. Considering this perspective, this study evaluates the capabilities of a 3D printer for soils to produce double-structured soil samples with target values of micro- and macro-porosities. Micro-porosity can be controlled by controlling the characteristics of the soil filament released by the printer, whereas macro-porosity can be regulated by choosing the geometry of superimposed filament layers. As a result, the procedure reported in this work suggests an automated alternative to the current practice where controlled-double-structured clayey soil samples are created acting on the water content and compaction load.