The present technology provides a three-dimensional (3D) printing system for forming 3D objects. The system includes a base plate, a first nozzle, a second nozzle, and a curing agent. The first nozzle can be configured to form a base layer of an object on the base plate and to form a contour of a second layer of the object on the base layer with a first material. The contour defines a volume within the second layer. The second nozzle can be configured to at least partially fill the volume within the second layer with a second material. The contour of the second layer and the second material form the second layer. The curing agent can be configured to solidify the second material.