Herein, we synthesized hygroscopic liquid crystal elastomer incorporating dimethylamino moieties that can be prepared by surface alignment and 3D printing. The humidity-responsive properties are introduced by activating one of the LCE surfaces with acidic solution, which provides asymmetric hydrophilicity to the LCE. The resulting humidity-responsive LCE undergoes programmed and reversible hygroscopic actuation. We modulated the degree of actuation with factors such as thickness and cross-linking density. Furthermore, various humidity-responsive LCE actuators, including a concentric square array and a soft gripper, are successfully fabricated by employing LC inks in DIW 3D printing. Most importantly, by preparing 3-dimensional bilayer actuators that printed in z-direction as well, we suggested the possibility of 4D printing of humidity-responsive LCE.