An apparatus for cryogenic 3D printing of an object from a fluid, the apparatus comprising: (a) a printing head assembly with a dispenser configured for dispensing a fluid and for X-Y positional translation; (b) a cryogenic liquid container having a printing surface, said container and printing surface configured for Z positional translation; (c) a cryogenic liquid disposed within the cryogenic liquid container; and (d) a control mechanism operably coupled to the printing head assembly and cryogenic liquid container, the control mechanism comprising a computer processor and a non-transitory computer-readable memory storing instructions executable by the computer processor, wherein said instructions, when executed by the computer processor, perform steps comprising: (i) dispensing the fluid material onto the printing surface and moving the printing head assembly with X-Y position translation to form a layer of a 3D printed object; said material having a phase transition temperature, the printing surface having a temperature lower or equal to the phase transition temperature of the material; (ii) moving the cryogenic liquid container and printing surface with Z position translation and repeating step (i) to print multiple layers, wherein a previously printed layer serves as the printing surface for a subsequently printed layer; (iii) sensing the temperature of the fluid in the printing head assembly; (iv) controlling the temperature of the fluid dispensed from the printing head assembly; (v) controlling the cooling rate of the printed layer; and (vi) controlling the temperature of the cryogenic liquid in the cryogenic liquid container; (vii) wherein as each layer is printed, the entire printed object to the last printed layer is immersed in the cryogenic liquid held within the cryogenic liquid container at a temperature that is lower or equal than the phase transition temperature of material; and (viii) continuously raising the level of the cryogenic liquid in the cryogenic liquid container so that the liquid level is maintained at a level that is approximately flush with the surface of the last printed layer. (a) a printing head assembly with a dispenser configured for dispensing a fluid and for X-Y positional translation; (b) a cryogenic liquid container having a printing surface, said container and printing surface configured for Z positional translation; (c) a cryogenic liquid disposed within the cryogenic liquid container; and (d) a control mechanism operably coupled to the printing head assembly and cryogenic liquid container, the control mechanism comprising a computer processor and a non-transitory computer-readable memory storing instructions executable by the computer processor, wherein said instructions, when executed by the computer processor, perform steps comprising: (i) dispensing the fluid material onto the printing surface and moving the printing head assembly with X-Y position translation to form a layer of a 3D printed object; said material having a phase transition temperature, the printing surface having a temperature lower or equal to the phase transition temperature of the material; (ii) moving the cryogenic liquid container and printing surface with Z position translation and repeating step (i) to print multiple layers, wherein a previously printed layer serves as the printing surface for a subsequently printed layer; (iii) sensing the temperature of the fluid in the printing head assembly; (iv) controlling the temperature of the fluid dispensed from the printing head assembly; (v) controlling the cooling rate of the printed layer; and (vi) controlling the temperature of the cryogenic liquid in the cryogenic liquid container; (vii) wherein as each layer is printed, the entire printed object to the last printed layer is immersed in the cryogenic liquid held within the cryogenic liquid container at a temperature that is lower or equal than the phase transition temperature of material; and (viii) continuously raising the level of the cryogenic liquid in the cryogenic liquid container so that the liquid level is maintained at a level that is approximately flush with the surface of the last printed layer. (i) dispensing the fluid material onto the printing surface and moving the printing head assembly with X-Y position translation to form a layer of a 3D printed object; said material having a phase transition temperature, the printing surface having a temperature lower or equal to the phase transition temperature of the material; (ii) moving the cryogenic liquid container and printing surface with Z position translation and repeating step (i) to print multiple layers, wherein a previously printed layer serves as the printing surface for a subsequently printed layer; (iii) sensing the temperature of the fluid in the printing head assembly; (iv) controlling the temperature of the fluid dispensed from the printing head assembly; (v) controlling the cooling rate of the printed layer; and (vi) controlling the temperature of the cryogenic liquid in the cryogenic liquid container; (vii) wherein as each layer is printed, the entire printed object to the last printed layer is immersed in the cryogenic liquid held within the cryogenic liquid container at a temperature that is lower or equal than the phase transition temperature of material; and (viii) continuously raising the level of the cryogenic liquid in the cryogenic liquid container so that the liquid level is maintained at a level that is approximately flush with the surface of the last printed layer.