Conducting polymers are promising material candidates in diverse applications including energy storage, flexible electronics, and bioelectronics. However, the fabrication of conducting polymers has mostly relied on conventional approaches such as ink-jet printing, screen printing, and electron-beam lithography, whose limitations have hampered rapid innovations and broad applications of conducting polymers. Here we introduce a high-performance 3D printable conducting polymer ink based on poly(3,4-ethylenedioxythiophene):polystyrene sulfonate (PEDOT:PSS) for 3D printing of conducting polymers. The resultant superior printability enables facile fabrication of conducting polymers into high resolution and high aspect ratio microstructures, which can be integrated with other materials such as insulating elastomers via multi-material 3D printing. The 3D-printed conducting polymers can also be converted into highly conductive and soft hydrogel microstructures. We further demonstrate fast and streamlined fabrications of various conducting polymer devices, such as a soft neural probe capable of in vivo single-unit recording.