•An 4D printed SMC actuator was fabricated using SMA and SMP with a FDM 3D printer.•A volume fraction of SMA:SMP of 1:5 showed the largest length change of 8 mm, and the most rapid response time of 4 s.•The reversible actuator mechanism explains the SMC actuation via each shape memory effect.•SMC showed potential application for stents and valve controllers via 3D printing technology to achieve customized designs. A fused deposition modeling (FDM) tool was used to fabricate a shape memory composite (SMC) that combined a shape memory alloy (SMA) with a shape memory polymer (SMP). The SMA caused a shape memory effect due to a phase change between martensite and austenite phases, in turn due to a temperature change. Also, the SMP had a shape memory effect caused by changes in the proportions of hard and soft segments near the glass transition temperature (Tg). Usually, common SMAs and SMPs are not reversible, so these materials do not go back to their original shapes once they are deformed. In this study, we fabricated 4D printing actuator via reversible SMC actuations using 3D printing technology. Nylon 12 was used as the 3D printing material in filament form. Moreover, the volume fraction of SMA to SMP was varied to find the optimum ratio for good operation cycles. A volume fraction of SMA:SMP of 1:5 showed the largest length change, of 8 mm, and the most rapid response time, of 4 s in overall dimension of 140mm×10mm×1mm (length×width×thickness).Thus, the SMC showed promising results for the application of stents and valve controllers that could be manufactured by 3D printing technology.