A printing system and method for forming an ink droplet through the use of a multi-pulse driving signal to increase the printing frequency without reducing the droplet size by applying a multi-pulse driving signal to a small nozzle and to increase the inkjet printing speed by using a smaller nozzle to produce the same-size droplet using a multi-pulse driving signal, which allow for higher printing frequency due to the smaller nozzle size as dictated by the fundamental droplet formation dynamics.