Three-dimensional structures were robocasted from a 10 mol% ceria-stabilized zirconia and alumina composite (10CeTZP-Al2O3). A hydrogel-based printable ink was developed using a unique non-ionic copolymer surfactant. Self-supporting and free-standing structures, including round lattices with interconnected pores (200–600 μm pores; 30–50% porosity), rectangular bars (95% density on average) and cones were successfully printed. The round lattices of 200 μm pores and 30% porosity showed compression strengths similar to those of cortical bone, reaching almost 200 MPa. The maximum flexural strength value attained for the rectangular bars was 575 MPa. In vitro biological studies demonstrated that the samples allow for practically 100% cell viability, confirming their non-cytotoxic nature. Cell differentiation tests were performed using osteoblasts incubated for 7 days in supplemented cell culture medium. Quantification of specific osseous differentiation genes showed that the robocasted structures induced a higher degree of osseous differentiation than tissue culture polystyrene.