Recent advances in 3D printing techniques are allowing for new ways to manufacture sensors with materials and geometries previously not exploited. In this work we present a fabrication approach for fully 3D printed soft mechanical pressure sensors, as well as their characterisation. These sensors were created out of soft materials only using the Direct Ink Writing (DIW) printing technique. The applicability of both piezoresistive and capacitive transducing mechanisms were evaluated for the sensing of normal pressures. The produced sensors were tested by means of automated mechanical tests and compared based on their performance. In this way, we determined and analysed both their static and dynamic behaviours.