This study presents the development of a 3D lipid microhelix capable of simultaneously delivering drugs with different characteristics, including water-soluble and poorly water-soluble drugs. Lipid microhelix encapsulating magnetic nanoparticles (MNPs) and two drugs are fabricated using water-soluble micromolds. Unlike traditional polymer-based microstructures, lipids enable the encapsulation of lipophilic drugs, offering prolonged drug release while providing biocompatible and biodegradable properties. The drug loading efficiency and in vitro drug release profiles of the microhelices are assessed, and are successfully directed in PBS using an external magnetic field, demonstrating microrobotic features. Our lipid microhelices overcome the limitations of current microrobots in delivering a large variety of drugs.