Significant efforts have been devoted to developing dielectric elastomer actuators owing to their mechanical flexibilities, silent operation, and muscle-like performances. However, it still remains a challenge to demonstrate the actuators that maintain function when subjected to damage because most soft materials constituting such devices are vulnerable to mechanical stresses during repeated operation. Here, selfhealable electrodes suitable for dielectric elastomer actuators were prepared from an eco-friendly gelatin-based composite including conductive ions and hydrogen bonds. Electrohydrodynamic printing was used to reproducibly fabricate a custom-made electrode with desired geometry. The printed gelatin-based electrodes were attached onto elastomers to fabricate dielectric elastomer actuators. The devices exhibited good actuator operation and, owing to the self-healing capability of the gelatinbased electrodes, almost fully recovered their performances with an efficiency of up to 96.8% even after the electrodes were damaged. Furthermore, the potential application of the gelatin-based electrode was explored by using them as a strain sensor; this sensor showed a sensitive dependence of electrical resistance on external joint movements. We believe this work provides a useful guideline for designing selfhealable conductive composites that can be effectively used to make printed actuators and sensors endowed with good ionic conductivity and useful mechanical properties.