I have been able to partially print them[0]. The electrodes we used could have been inkjet printed* and there is some potential of printing the dielectric fluid too. In the process I developed, the HASELs had to be filled with dielectric fluid during postprocessing, but it has been shown that it is possible to print closed volumes of fluid with inkjet 3d printers[1]. Although there is some risk the dielectric fluid could interfere with the curing of the polymer.
*We also were able to develop a technique for printing electrodes without modifying the printer, but this hasn't been published yet
*We also were able to develop a technique for printing electrodes without modifying the printer, but this hasn't been published yet
[0]https://www.researchgate.net/publication/343949671_Modeling_...
[1]https://www.csail.mit.edu/news/first-ever-3-d-printed-robots...