A 4-dimensional printing system and method for printing reinforced concrete may allow reinforced concrete elements to be printed freeform and/or fully automated without the need for formwork, molding, or labor. The printing system may include software and hardware systems. The software system may process 3D models of the reinforced concrete element desired into multiple layers. The software system may utilize the individual layer to control operation of the hardware system to print the desired reinforced concrete element layer-by-layer. The hardware system may provide a concrete nozzle, a reinforcement material nozzle, as well as dispensing mechanisms for printing the materials at the desired locations and/or at desired times for the individual layer being printed. The hardware system may also include motion control mechanism(s) that allow the position of the nozzles to be moved sideward, up and down, and towards or away relative to the element being printed.