There is no better way to learn 3D printing and robotics than building and programming your own robotic creatures. yougang.kuo’s Laputa Robot project is worth a look. It was completed using a RoboHero robot. This is an Arduino programmable humanoid bot with 17 movable joints. The app allows you to edit motion sequences and easily control the robot.
This Laputa Robot can be controlled with Scratch & Blockly. You will just have to 3D print head and other parts to customize the bot. More info is available here.