Conventional 4D printing technologies are realized by combining 3D printing with soft active materials such as shape memory polymers (SMPs) and hydrogels. However, the intrinsic material property limitations make the SMP or hydrogel-based 4D printing unsuitable to fabricate the actuators that need to exhibit fast-response, reversible actuations. Instead, pneumatic actuations have been widely adopted by the soft robotics community to achieve fast-response, reversible actuations, and many efforts have been made to apply the pneumatic actuation to 3D printed structures to realize passive 4D printing with fast-response, reversible actuation. However, the 3D printing of soft actuators/robots heavily relies on the commercially available UV curable elastomers the break strains of which are not sufficient for certain applications which require larger elastic deformation. In this paper, we present two simple approaches to tune the mechanical properties such as stretchability, stiffness, and durability of the commercially available UV curable elastomers by adding: (i) mono-acrylate based linear chain builder; (ii) urethane diacrylate-based crosslinker. Material property characterizations have been performed to investigate the effects of adding the two additives on the stretchability, stiffness, mechanical repeatability as well as viscosity. Demonstrations of fully printed robotic finger, grippers, and highly deformable 3D lattice structure are also presented.