A system for three-dimensional (3D) printing edible objects, the system including: a first 3D printer including: a first processor; one or more cartridges for storing ingredients used in printing a 3D printed edible object, a plurality of extruders for extruding the ingredients during printing of the 3D printed edible object and a plurality of relays coupled to the plurality of extruders. A first cartridge stores a first ingredient while a second cartridge stores a second ingredient that may be different from the first ingredient. A first extruder extrudes the first ingredient and a second extruder extrudes the second ingredient in a synchronized motion. A first subset of the plurality of relays is configured to control the first extruder and a second subset of the plurality of relays is configured to control the second extruder.