Kirigami, an oriental art of paper cutting, involves creating patterned cuts on a flat, thin sheet to achieve bending, buckling as well as extra elongation when an external stimulus is applied. In this study, we propose a series of kirigami-based pneumatic actuators utilizing laser cutting and stacking fabrication approach. This method allows for rapid prototyping of pneumatic actuators through strategic cut designs, eliminating 3D manufacture of air chambers. The motion mode of the proposed kirigami actuator is programmable in terms of expanding, bending and twisting with corresponding cut patterns. The proposed bending actuator can deform over 200° and possess an end blocking force of up to 20 N at a pressure of 20 kPa. For instance of robotic functions, a soft gripper is illustrated by employing a bending actuator capable of lifting objects up to 20 times its own weight. Moreover, we demonstrate the potential for these actuators to be assembled into a crawling robot. This new soft actuator shall enrich the design strategy of soft robots by expanding kirigami from mechanical design to kinematic motion.