A method of printing a three-dimensional object onto a base using a printing system, the method comprising: receiving color layer information for each color layer (232, 238) and contour information at the printing system from a computer system, the contour information including: a target thickness for a region of the three-dimensional object; a predefined number of structural layers (234, 236, 244, 246) to be printed; receiving the base at the printing system; calculating a structural layer thickness (270, 280) for a printed layer to be printed to achieve the target thickness for the region using the target thickness and the predefined number of structural layers (234, 236, 244, 246); printing a first color layer onto the base using the received color layer information for the first color layer; printing a set of structural layers (234, 236, 244, 246) onto the first color layer to build a three-dimensional shape with a contoured surface, a number of layers in the set of structural layers being equal to the predefined number of structural layers and each layer in the set of structural layers (234, 236, 244, 246) in the region having the calculated structural layer thickness (270, 280); wherein the printing system comprises a print head and the printing system is a digital printer instructed in a pixel-by-pixel pattern of printing the structural layers (234, 236, 244, 246) using the received contour information; wherein the set of structural layers is transparent and the transparent layers (234, 236, 244, 246) have different pixel thickness in selected pixel printing locations (271, 272, 273, 274, 275, 276, 277, 278); wherein the print head is translated along a carriage bar to print a continuous line of transparent structural ink to form transparent layers (234, 236, 244, 246); and wherein the variation in pixel thickness is achieved by programming the print head to dispense different volumes of ink in different pixel printing locations while the print head travels on the carriage bar at a constant speed or by varying the speed of the print head on the carriage bar while the print head dispenses ink at a constant flow rate; and printing a second color layer onto the set of structural layers using the received color layer information for the second color layer. receiving color layer information for each color layer (232, 238) and contour information at the printing system from a computer system, the contour information including: a target thickness for a region of the three-dimensional object; a predefined number of structural layers (234, 236, 244, 246) to be printed; a target thickness for a region of the three-dimensional object; a predefined number of structural layers (234, 236, 244, 246) to be printed; receiving the base at the printing system; calculating a structural layer thickness (270, 280) for a printed layer to be printed to achieve the target thickness for the region using the target thickness and the predefined number of structural layers (234, 236, 244, 246); printing a first color layer onto the base using the received color layer information for the first color layer; printing a set of structural layers (234, 236, 244, 246) onto the first color layer to build a three-dimensional shape with a contoured surface, a number of layers in the set of structural layers being equal to the predefined number of structural layers and each layer in the set of structural layers (234, 236, 244, 246) in the region having the calculated structural layer thickness (270, 280); wherein the printing system comprises a print head and the printing system is a digital printer instructed in a pixel-by-pixel pattern of printing the structural layers (234, 236, 244, 246) using the received contour information; wherein the set of structural layers is transparent and the transparent layers (234, 236, 244, 246) have different pixel thickness in selected pixel printing locations (271, 272, 273, 274, 275, 276, 277, 278); wherein the print head is translated along a carriage bar to print a continuous line of transparent structural ink to form transparent layers (234, 236, 244, 246); and wherein the variation in pixel thickness is achieved by programming the print head to dispense different volumes of ink in different pixel printing locations while the print head travels on the carriage bar at a constant speed or by varying the speed of the print head on the carriage bar while the print head dispenses ink at a constant flow rate; and printing a second color layer onto the set of structural layers using the received color layer information for the second color layer.