This work describes an approach to perform 3D printing of chocolate-based materials in its liquid phase at room temperature, termed chocolate-based ink 3D printing (Ci3DP). We printed the chocolate-based inks in the form of chocolate syrup and chocolate paste mixed with varying concentrations of cocoa powders. The rheology-modified chocolate-based inks exhibited viscous and Herschel-Bulkley fluid properties, and they were printable using a DIW 3D printer without temperature control. Ci3DP is complementary to currently available methods of 3D printing of chocolates based on hot-melt extrusion where the printing ink is heated and molten before patterning. A wide selection of chocolate-based materials, and the ability to tailor their properties, distinguish our current approach as a unique method to 3D print chocolate-based products at room temperature.