This paper proposes a glass 3D printing system that can be used at room temperature. The system employs high-frequency electromagnetic induction heaters and stone-ground carbon tubes to heat glass raw materials. In this study, a digital control system was fully utilised to control the extrusion of borosilicate glass materials. Through a calculated design and communication between a six-axis robot arm and an external computer, the robot’s printing path and speed and the feeding state of the glass printing machine can be automatically controlled for different geometric shapes and velocities. This study examines digital manufacturing processes and material properties to investigate the novel glass printing of textures and free-form surface modelling.