There are so many different types of 3D printers on the market today, but none of them can print in cloth like material. One College student named Oluwaseyi Sosanya has built his own 3D printer/weaving machine, capable of printing with yarn. It works somewhat like an FDM based 3D printer, but instead of melting plastic, it extrudes yarn which is woven around numerous metal vertical poles. More details on this printer can be found here: http://3dprint.com/7156/3d-weaving-machine/

Here is a look at some shoe soles 3D printed on this incredible machine. The yarn was hardened, but remains flexible after being dipped into a silicone liquid and dried.:


Here is a look at the actual printer: