Addition of supplementary materials without loss of dimension in 3D printed products can be carried out by adopting coaxial extrusion. This study aimed to produce starch-xanthan gum gels filled with nanoemulsions for customized food production based on coaxial 3D printing. Nanomemulsion-filled gel (NFG) was prepared by dispersing curcumin nanoemulsion in a mixture of xanthan gum in various concentrations and potato starch. NFGs were inserted as core parts into 3D printed products through the internal nozzle of the coaxial system. Xanthan gum content of 5% or more in NFG inhibited gelation of the starch matrix, resulting in loss of dynamic viscoelasticity and 3D printing performance. The 3% xanthan gum incorporation showed the highest shear modulus value (1792.00 ± 104.50 Pa) and the best shape support ability. The physical properties of the NFG were evaluated using a confocal laser scanning microscope and a DPPH assay; the particle size decreased and antioxidant activity increased as the level of XG increased. •Nanomemulsion-filled gel (NFG) based on xanthan-starch matrix was produced.•NFGs were inserted into 3D printed products through a co-axial system.•The rheology of NFG can be controlled by xanthan gum on specific percentages.•The antioxidant activity of NFG increased with increasing xanthan gum levels.