Advancing 3D printing fabrication methodologies can enable customized wearables and robotic sensing systems with novel sensing architectures, tuned mechanical properties, and higher feature density. In this work, a design and fabrication approach is developed and used to produce a novel soft elastomeric capacitive sensor conceived to measure bending motions. Analytical and finite element modeling are used to create a non-intrusive sensor design that can measure the bending angle of a joint independent of bending direction. Transduction is achieved by 3D printed angular features, with integrated silver plates, fabricated by Direct Ink Writing (DIW) a shear thinning UV-curable silicone ink. The soft sensor achieves a sensitivity of 2.50 ± 0.04 fF/°and detects the bending direction, matching the developed model. This work makes a significant contribution to the fabrication of fully 3D-printed soft electronics, enabling devices with novel architectures and functionalities.