This study addressed the potential of 3D printing as a processing technology for delivering personalized healthy eating solutions to consumers. Extrusion-based 3D printing was studied as a tool to produce protein- and dietary fibre-rich snack products from whole milk powder and wholegrain rye flour. Aqueous pastes were prepared from the raw materials at various ratios, grid-like samples printed from the pastes at ambient temperature and the printed samples post-processed by oven baking at 150 °C. Printing pastes were characterized by rheological measurements and the baked samples by X-ray micro tomography, texture measurements and sensory analysis. All formulations showed good printability and shape stability after printing. During baking, the milk powder-based samples expanded to a level that caused a total collapse of the printed multiple-layer samples. Shape retention during baking was greatly improved by adding rye flour to the milk formulation. Sensory evaluation revealed that the volume, glossiness, sweetness and saltiness of the baked samples increased with an increasing level of milk powder in the printing paste. A mixture of milk powder and rye flour shows great potential as a formulation for healthy snack products produced by extrusion-based 3D printing.