Soft actuators have been studied and analyzed as a new solution for soft robotic technologies. These types of actuators have many advantages due to their predictable deformations and their ease of control, enabling them to hold and move delicate objects performing complex movements in confined spaces. Soft actuators can be made using different manufacturing processes, but the most common is mold casting. However, this manufacturing process involves several steps, increasing the manufacturing time and hindering changes in the design. This paper presents a novel design of a 3D printed soft pneumatic actuator based on additive manufacturing, achieving design versatility and performance. The produced actuator has seven segments that can be individually controlled. The actuators were made using fused deposition modeling (FDM) technology in one continuous process and without support material. The mechanical performance of the soft actuators was demonstrated, analyzing the deformation in the z-axis based on input pressure.