Systems and methods are provided for digital printing of Braille or other raised printing. In some embodiments, ink is printed directly from a print head onto a substrate, rather than onto a transfer drum that is later printed onto a substrate. In some embodiments, a plurality of layers of a curable, phase-change ink are printed onto the substrate, wherein pauses of a predetermined time are included in between of layers to enable the curable, phase-change ink to set up into a given shape and height. In some embodiments, temperatures of printing components are lowered from those used for traditional printing, so as to enable the curable phase change ink to set up into a given shape and height. In some embodiments, spacing of components are altered from those used for traditional printing, so as to enable the curable phase change ink to set up into a given shape and height.