In this chapter, the limitations of the current biological 3D printing are discussed; the significance of coaxial printing technology is elaborated. Moreover, some commonly used materials in coaxial 3D bioprinting are introduced, and the special advantages of coaxial 3D bioprinting in the balancing of printability and biocompatibility of bioink, as well as in the manufacture of complex vascularized tissue structures, are discussed. Also, some representative biomedical applications are introduced. Finally, this chapter shows the limitations and perspectives of the coaxial bioprinting approach in the future.