An apparatus for printing onto a curved surface of a sole structure, the apparatus comprising: a housing, the housing including a base disposed along the bottom of the housing; a nozzle configured to discharge a composite yarn onto the curved surface; a computing system configured to control a position adjustment of the nozzle and the sole structure; a first actuating system configured to move the nozzle, wherein the first actuating system moves the nozzle along a direction aligned with a vertical axis, the vertical axis extending normal to a surface of the base, and wherein the first actuating system moves the nozzle along a direction aligned with a first horizontal axis (124, 126), the first horizontal axis (124, 126) being approximately parallel with respect to the base; a second actuating system configured to adjust the position of the sole structure with respect to the nozzle, wherein the second actuating system moves the sole structure along a direction parallel to the vertical axis, and wherein the second actuating system moves the sole structure along a direction parallel to the first horizontal axis (124, 126), the apparatus being configured to attach the composite yarn to the curved surface by moving the nozzle downward toward the curved surface in a direction aligned with the vertical axis; and the apparatus being configured to attach the composite yarn to the curved surface by moving the nozzle in a direction aligned with the first horizontal axis (124, 126), the apparatus being configured to attach the composite yarn to the curved surface of the sole structure by moving the sole structure in a direction parallel to the vertical axis, and the apparatus being configured to attach the composite yarn to the curved surface of the sole structure by moving the sole structure in a direction parallel to the first horizontal axis (124, 126). a housing, the housing including a base disposed along the bottom of the housing; a nozzle configured to discharge a composite yarn onto the curved surface; a computing system configured to control a position adjustment of the nozzle and the sole structure; a first actuating system configured to move the nozzle, wherein the first actuating system moves the nozzle along a direction aligned with a vertical axis, the vertical axis extending normal to a surface of the base, and wherein the first actuating system moves the nozzle along a direction aligned with a first horizontal axis (124, 126), the first horizontal axis (124, 126) being approximately parallel with respect to the base; a second actuating system configured to adjust the position of the sole structure with respect to the nozzle, wherein the second actuating system moves the sole structure along a direction parallel to the vertical axis, and wherein the second actuating system moves the sole structure along a direction parallel to the first horizontal axis (124, 126), the apparatus being configured to attach the composite yarn to the curved surface by moving the nozzle downward toward the curved surface in a direction aligned with the vertical axis; and the apparatus being configured to attach the composite yarn to the curved surface by moving the nozzle in a direction aligned with the first horizontal axis (124, 126), the apparatus being configured to attach the composite yarn to the curved surface of the sole structure by moving the sole structure in a direction parallel to the vertical axis, and the apparatus being configured to attach the composite yarn to the curved surface of the sole structure by moving the sole structure in a direction parallel to the first horizontal axis (124, 126).