A puzzle of chocolate-based material puzzle pieces is formed by providing a transfer sheet having a design of food-grade material on a first side of the transfer sheet and providing a puzzle piece template having passages shaped as pieces of the puzzle. The puzzle piece template is arranged on top of the first side of the transfer sheet. The passages of the puzzle piece template are filled with a chocolate-based material. After crystallization, the chocolate-based material in the passages of the puzzle piece template form the chocolate-based material puzzle pieces of the puzzle. The chocolate-based material puzzle pieces are removed from the template.

A robotized line for the production of chocolate products, including a casting chamber, a refrigerated chamber and a demoulding chamber, wherein each of the chambers is equipped with an anthropomorphic robot able to move the moulds during several steps of the production process.

The present disclosure provides a three-dimensional food printing method which improves printing quality and enhances user convenience. The three-dimensional food printing method includes receiving an input of a two-dimensional image from a user terminal, generating a three-dimensional modeling file based on the input two-dimensional image, receiving an input of a type of a formulation including food ingredients from the user terminal, determining output parameters corresponding to the type of the formulation, generating printing command data by performing slicing based on the determined output parameters and the generated three-dimensional modeling file, and transmitting the printing command data to a three-dimensional food printing device.