As the field of three-dimensional (3D) bioprinting gains increased momentum, complex 3D bioprinters are being developed to keep up with the needs of biofabrication and tissue engineering. Cartesian-based linear 3D bioprinters have facilitated the fabrication of 3D biological constructs and scaffolds. However, to achieve meaningful advancement in biofabrication, 3D bioprinters need increased freedom of motion, seamless multi-material printing, full automation, and ease of use. In this paper, we propose TwinPrint, a dual-arm robotic 3D bioprinting system, designed to be compatible with soft bioinks to build multi-material constructs, crucial for creating functional tissue. The uniquely integrated robotic 3D bioprinter—comprising an in-house fabricated coaxial nozzle, two 4-axis robotic arms, six microfluidic pumps, and a software interface—work harmoniously as a single unit. We showcase the development of the Python-based software and Graphical User Interface, integrating all components into a single easy-to-use interface. Due to their human-like and instantaneous gelation properties, peptide-based bioinks were used as printing material to test the system. Developed in our laboratory as an alternative to gelatin- and alginate-based bioinks, they avoided chemical and ultraviolet-crosslinking by solidifying instantaneously under physiological conditions. For system performance testing, acellular and cellular constructs were observed for structural fidelity, multi-material layering, printing accuracy, cell viability, and proliferation. Overall, our proposed system showcases an innovative integration of robotics for biofabrication to expedite the printing process and enable multi-task print protocols. By saving time, increasing degrees of freedom, and expanding printing complexity, we believe TwinPrint is a promising next step for biofabrication.