Disclosed are systems, compositions, and methods for three-dimensional (3D) printing. An example system includes a plurality dispensers configured to deposit materials from their tips and a printing surface for receiving the materials. The system includes a position sensing detector configured to detect positions of the tips of the dispensers and the location and dimensions of the printing surface. The system includes a robotic positioning device configured to drive the dispensers. The system also includes a control unit configured to receive and map in a 3D space the positions of the tips of the dispensers and the position and dimensions of the printing surface. The control unit is further configured to control the robotic positioning device to drive the dispensers relative to the printing surface in the 3D space, and to independently deposit materials on the printing surface, or on material deposited on the printing surface.