Three-dimensional food printing (3DFP) involves the creation of edible products by structuring materials using 3D printing technology. 3DFP has garnered significant attention due to its vast potential in the food industry, offering advantages in food customization, precision, creativity, and reducing waste during food production. The key components of 3DFP include food ink materials, fabrication processes, and sensing and control technologies. This review provides an in-depth examination of these elements. First, it summarizes key considerations regarding material characteristics, and discusses both basic and advanced materials for 3DFP. Next, it explores fabrication processes, including their underlying principles, and highlights advanced 3DFP fabrication methods for producing high-quality printed food products. It also introduces sensing, monitoring, and control strategies to enhance real-time process precision and stability. The review concludes with a discussion on the future directions and prospects of intelligent 3DFP systems.