Efforts to develop human-like robots are ongoing, with much research focusing on appearance and movement. For robotic hands, it is crucial to develop functionalities similar to those provided by the human finger pad, such as identification, sensing, and gripping. Here, we introduce fully soft artificial finger pad electronics with random wrinkles mimicking fingerprints and bimodal sensing systems, composed of only soft materials. We have developed a facile fabrication process for the artificial fingerprint and evaluated its randomness. Furthermore, our soft bimodal sensors demonstrate object recognition through temperature and pressure sensing. Since all components are made of soft materials, conformal deformation enhances gripping ability. These soft artificial finger pad electronics hold promise for improved biometric security and increased accessibility in future androids and other fields.