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Biocompatible polymers have emerged as essential materials in medical 3D printing, enabling the fabrication of scaffolds, tissue constructs, drug delivery systems, and biosensors for applications in and on the human body. This review aims to provide a comprehensive overview of the current state of 3D-printable biocompatible polymers and their composites, with an emphasis on their processing methods, properties, and biomedical uses. The scope of this work includes both natural and synthetic biocompatible polymers, polymer–nanocomposite systems, and bioinks that do not require photo initiators. The relevant literature was critically examined to classify materials by type, evaluate their compatibility with major 3D printing techniques such as stereolithography, selective laser sintering, and fused deposition modeling, and assess their performance in various medical applications. Key findings highlight that reinforced polymer composites, tailored surface chemistries, and hybrid printing strategies significantly expand the range of functional, customizable, and affordable biomedical devices. This review concludes by discussing present-day applications and emerging trends, underscoring that 3D-printable biocompatible polymers are rapidly transitioning from research to clinical practice, offering transformative potential for patient-specific healthcare solutions.