Elderly people commonly face difficulties swallowing food. Food with soft texture, nutritious, and visually appealing is desirable for the elderly. This study aimed to modify the texture of chicken surimi (CS) by incorporating with mealworm protein isolate (MPI), and coaxial three-dimensional (3D) printing was used to generate fibrous structure as food for the elderly. The G’ values significantly decreased when increasing MPI content, illustrating the decreased viscoelastic properties of surimi ink. After post-processing, the printed surimi exhibited water-holding capacity (WHC) enhancement and cooking loss retention. The significant reduction in hardness with increased MPI content (p < 0.05) was observed, correlating with microstructural changes of surimi. MPI (50%) mixed with CS was the maximum printable content with a well-defined resolution and showed a lower hardness value (4.13 × 10 4 ± 0.61 N/m 2 ), corresponding to stage 2 of the universal design food (UDF) guideline. This study successfully modified the texture of surimi with a fibrous shape as a novel elderly food. • Mealworm protein isolate (MPI) affected the texture of chicken surimi (CS). • Coaxial 3D printing was used for self-supporting and fibrous structure fabrication. • MPI gel (50%) mixed with CS was the maximum printable content with lower hardness. • Texture-modified CS with MPI gel can be applied as a soft food for the elderly.