The present invention provides an actinically or thermally curable ink for making colored silicone hydrogel contact lenses. The ink of the invention comprises at least one colorant, a solvent and a binder polymer including ethylenically unsaturated groups and segments derived from at least one silicone-containing vinylic monomer or macromer. The ink of the invention is characterized by having capability to be cured actinically or thermally to form a colored coat on a silicone hydrogel contact lens, wherein the colored coat has good adhesion to the silicone hydrogel contact lens without being covalently attached to the lens material of the contact lens. The invention also provides methods for making colored silicone hydrogel contact lenses.