Soft robotics is an emerging field in science and technology that extends the area of classical robotics to new types of applications. Soft robots uniformly conform to their objects in contact without damaging them, but also without being damaged themselves by these objects. In the field of pneumatic soft robots, the classical production method is silicone injection molding. This method, however, is only economical for relatively large batch sizes. In this context, additive manufacturing (and especially silicone 3D printing) offers a promising alternative for small and medium batch sizes. In this paper, we describe the technology of silicone 3D printing, discuss the way to develop a comprehensive design compendium, and present the application of first design guidelines using an illustrative example.