Bio-inspired, multifunctional, high-aspect-ratio nanostructured surfaces are fabricated in a variety of materials with controlled geometry and stiffness. A soft-lithography method that allows the one-to-one replication of nanostructures and renders it possible to produce arbitrary nanostructures with cross-sectional shapes, orientations, and 2D lattices that are different from the original master is presented. The actuation of the posts is demonstrated.