Abstract: Saturated fats exhibit more desirable properties for 3D food printing compared with liquid oils. However, increasing consumption of saturated fats is highly related to the pathogenesis of multiple diseases and physiological disorders. Wax-based oleogels as potentially healthier alternatives have drawn attention in food technology and industry recently. Inspired by the potential opportunities offered by sorghum as a natural wax source, the first objective of this study was to investigate the potential of three types of sorghum waxes, namely, sorghum bran wax, sorghum DDGS wax (SDW), and sorghum kernel wax, as an oleogelator. All three sorghum waxes showed good gelation properties with minor differences. Fast cooling rate and ultrasonic treatment favored the oil-gelling capacity and reduced oil loss by decreasing the crystal size. X-ray diffraction results indicated that all sorghum wax oleogels demonstrated a hexagonal symmetry and β’ crystals. Faster cooling rate resulted in an earlier onset of crystallization and ultrasonic treatment narrowed the melting range. Oxidation of fish oil in the sorghum wax oleogels was delayed considerably compared to free fish oil, while SDW generated the most stable oleogels. Next, four natural waxes were used to print on an extrusion-based 3D printer to explore the effect of wax-based oleogels on printability and post-printing properties. Results indicated that all wax-based oleogels showed excellent printability with the wax concentration under 6%, except SDW under 4%. The rheological properties of printing pastes were impaired with the increased wax concentration, while the higher wax concentration promoted the physical stability for beeswax and candelilla wax oleogel pastes. 6% beeswax oleogels exhibited the optimal capacity to keep the deposited shape lasting to 53 days. The wax with different concentrations in the oleogels displayed various effects on the oil-controlling capacity. Oxidative stability showed that wax-based oleogels displayed oxidative protection for the fish oil printed products.