The study presents design, analysis, and development of a benchtop 3D concrete printer for laboratory-scale applications such as prototyping, motion control study, and printing experimentations. A benchtop 3D concrete printer uses a movable-frame gantry-based architecture that offers compactness, structural soundness, and operating efficiency as compared to other design configurations viz. Cartesian, fixed frame, and movable gantry types. Finite element simulations along with analytical formulations were used for determining the structural strength, motor driving torque and improving the performance of the lead screw and linear motion mechanisms. The stepper motor performance has been evaluated using a developed control set-up comprising of microcontroller, drives, and limit switches with a computer numerical control (CNC) shield. The printer has an integrated control system, programmed using CNC JS software (web-based gcode feeder) to ensure precise motion for the provided input via user interface. The assembled printer structure with motors, pumping unit, and control unit has been devised to carry further motion control study and material printing trials. Majority of the components have been fabricated using precise machining processes viz., laser cutting, CNC milling machine, and stereolithography-based 3D printer. The evaluation of motion control, mix-design, and material printing will be conducted as part of future investigations.