Soft robots have emerged as a focal point of research due to their flexible actuation mechanisms, adaptability to various environments, and safety in human-robot interactions. Among the diverse actuation strategies, magnetically actuated technologies have significantly advanced the autonomy of soft robots owing to their ability to perform remote manipulation without constraints. This necessitates the development of high-performance magneto-responsive materials and intelligent soft structures. The deformation behaviors induced by anisotropic swelling present a novel approach for constructing complex magnetic soft actuators. This study introduces a composite ink system based on shear-induced alignment of magnetic fibers, integrating the effects of anisotropic swelling with a pulsed magnetization strategy. This approach facilitates the swelling transformation of two-dimensional printed structures into predetermined three-dimensional configurations, alongside magnetic actuation. Utilizing this template-free rapid magnetic programming platform, multiple biomimetic soft actuators have been designed and fabricated, successfully demonstrating complex motion modalities, including biomimetic grasping and path navigation. This work provides a new technical paradigm for the three-dimensional deformation and design of intelligent magnetically controlled soft robots.