Plant oil-based elastomers are an appealing alternative to petroleum-derived polymers, especially in the rising demand for flexible, high-strain materials in the field of 3D-printable soft robotics. Originally, implementation of such solutions has been restricted by fossil polymers and slow and labor-intensive molding techniques, which limit design flexibility and resolution. Herein we present a vat photopolymerization 3D-printable system, harnessing easily customizable plant oil acrylates with a bio-based carbon content spanning from 62% to 80%. Through meticulous macromolecular design and optimized post-processing, our material achieves a remarkable spectrum of mechanical and functional properties. From yielding soft and stretchable elastomers boasting elongations of up to 180%, to strong and malleable shape-memory polymers. To demonstrate the versatility of our materials, we created a fully 3D-printed soft robotic actuator capable of rapid and precise movement. The created material enables the development of long-lasting, high-resolution structures customized to specific mechanical needs across a wide range of advanced applications.