The authors have proposed a fabrication process of "4D printer" for magnetic soft actuators. In this paper, we applied this 4D printer to bio-mimic field and show some examples using a gel material dispersed with magnetic powder. 4D printer is a recently developed process that can print out not only a 3-dimensional structure but also print deformations of the printed structure at the same time. We employed a UV-curable gel material. The material could be used in the same manner as the conventional 3D-printing process. We applied a magnetic field to set magnetic anisotropy in the curing portion during the building step. This anisotropy is set in each portion of the structure so that the printed structures could deform under an applied magnetic field. Using this technique, we demonstrated 2 kinds of biomimetic examples; one is a worm-type soft actuator and the other is an array of artificial cilia. The first example could crawl in a narrow gap. The second one could reproduce a metachronal wave, which is a phase propagation wave found on natural small organisms. We will also show a computational method to design the deformation of the structure. (C) The Author(s) 2019. Published by ECS.