A type of polyurethane elastomer with excellent self-healing ability has been fabricated through digital light processing 3D printing. First, a type of polyurethane acrylate containing disulfide bonds is synthesized and then compounded with reactive diluent and photoinitiators to get a photopolymer resin. Due to the good fluidity and high curing rate, the photopolymer resin can be applied in DLP 3D printing, and various 3D objects with complicated structures, high printing accuracy, and remarkable self-healing ability have been printed. The tensile strength and elongation at break of the polyurethane elastomer are 3.39 ± 0.09 MPa and 400.38 ± 14.26%, respectively, and the healing efficiency can get to 95% after healing at 80 °C for 12 h and can be healed for multiple times. With the ease of fabrication and excellent performance, the polyurethane elastomers from DLP 3D printing have great potential applications in flexible electronics, soft robotics, and sensors.