Since its introduction, 4D (4 Dimensional) printing has sparked a lot of attention and applications in various fields. Unlike 3D (3 Dimensional) printing, 4D printing allows the printed item to alter shape and function over time when environmental variables change, such as temperature, light, electricity, and water. 4D printing technologies and materials have advanced rapidly in the last few years. As per market reports, the 4D printing sector will be worth about USD 313.1 million by 2025. The report attributes this exponential rise in the market to the high demand for 4D materials in the military, defense, aerospace, and healthcare industries. This study introduces the design and manufacturing method of a 4D printed twisting actuator with Shape Memory Alloy (SMA) integrated with the static 3D printed flexible matrices. Test models were printed with an SMA called Nitinol embedded in the experimental part. Numerical simulation (ANSYS) was carried out to analyze the shape recovery rate of the twisted actuator. Subsequently, numerical results were validated with experimental results. Our investigation reveals that this twisting wrist actuator is lightweight, shows good repeatability, and is capable of full shape recovery in about 4 s with an input current supply of 28 Amp. With its unique twisting ability, this embedding mechanism can be leveraged in industrial production to make robotic arms more dynamic and versatile.