The invention relates to a printing device, which can perform precise conductive pattern printing on a step shaped substrate, and comprises a platform module, a printing module, and a head movement module, wherein at least one of the platform module and the head movement module is provided with a rotating movement unit, and the rotating movement unit can drive a platform or a head to rotate around an X axis and a Y axis respectively, thereby ensuring that the head aligns a step surface which has an angle a with an X-Y plane to print; and the angle a is an angle which is more than 0 degree and is less than or equal to 90 degrees. A main innovation point is that the printing device can continuously print on the step shaped substrate; and the rotating movement unit is arranged on the printing device, or a step of real-time rotating printing of the head is added in a printing method, or the printing is respectively performed in a horizontal plane and a step plane, so as to solve the continuous problem of physical property of a metal conducting wire printed on the surface of the step shaped substrate, and ensure that the printed metal wire is not interrupted and has good electrical conductivity.