Bioprinting is emerging as a powerful tool for musculoskeletal (soft and hard) tissue engineering, with growing potential for clinical translation. Using the layer-by-layer deposition of bioinks composed of cells, growth factors, and biomaterials, bioprinting enables the fabrication of patient-specific constructs/scaffolds that closely replicate the complex architecture of bone, cartilage, and tendon/ligament. This technology offers promising solutions to key limitations of conventional treatments, including limited donor tissue availability, poor graft integration, and inconsistent healing. For instance, bioprinted cartilage grafts may provide more durable options for osteoarthritis management, while customized bioprinted bone scaffolds can match irregular defect geometries following trauma or tumor resection. Challenges remain, including achieving sufficient mechanical strength, vascularization, and long-term cell viability, as well as meeting regulatory and manufacturing standards. Nevertheless, advances in bioink design, stem cell biology, and printing technologies are rapidly narrowing the gap between laboratory research and real-world clinical use, positioning bioprinting as a promising next-generation strategy for musculoskeletal regeneration. Early stage clinical trials and preclinical studies continue to refine safety, scalability, and cost-effectiveness, which will ultimately determine the pace of widespread adoption. This chapter first presents an overview of the main bioprinting techniques and bioinks currently applied in regenerative medicine and then highlights recent in vivo advances in the bioprinting of bone, cartilage, intervertebral disc, meniscus, ligaments/tendons, and skeletal muscle. It concludes with a critical discussion of remaining challenges and future directions for clinical translation, with emphasis on tissue interface engineering and emerging technologies such as volumetric and sound-assisted printing, 4D bioprinting, and spheroid- and organoid-based biofabrication.