Both ways are OK, but, roughly speaking, if other (non -ly) compound participial attributive adjectives (e.g., 'computer-generated graphics', 'decision-making processes') are hyphenated throughout the text, then '3D-printed' is also more likely to be hyphenated (and vice versa).

3D printers do not require any toners or ink. It is based on raw materials that create a copy of the object. 2D printing requires the use of toners or ink to print the text or graphics on the paper. 3D printers use materials such as resins, thermoplastics, etc. to produce the output 3D object.