<p>Soft actuators with programmable shape morphing and high stiffness variation are highly demanded in soft wearable applications. However, existing methods often struggle to achieve both capabilities simultaneously. Inspired by bulliform cells, we present a class of fabric-based cellular pneumatic actuators (FCPAs), capable of simultaneous shape morphing and stiffness variation (over 420-fold). The FCPA comprises a fabric shell embedded with fabric air chambers: the fabric shell provides geometric constraints to determine target shapes, while the air chambers function as discrete stiffness-tuning elements. A theoretical model is developed to guide the analysis and design of FCPAs, with model predictions agreeing well with experimental results. As a result, we can design and fabricate FCPAs with programmable shapes (such as “S”, “W”, and “R” shapes) and high load capability (&gt; 5 kg). By customizing the FCPAs, we further develop a soft wearable robot for shoulder abduction assistance and validate its effectiveness on a mannequin and a human subject. These results showcase the unique features of our FCPAs and their huge potential in soft wearable applications.</p>