This document describes techniques and apparatuses for 3D printing for colored models on multi-head fused-deposition modeling (FDM) printers. These techniques are capable of enabling FDM printers to create 3D objects based on colored models, in some cases by determining printer instructions for multiple printer heads based on a 3D model and color data for the surface of the 3D model. These techniques can also tailor printer instructions to characteristics of a particular type or individual FDM 3D printer.