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An atmospheric pressure plasma based printer is described as an alternative to conventional techniques including inkjet printing. The approach is demonstrated to be capable of printing various nanomaterials, and adjusting the plasma parameters, carrier gas flows and the physical parameters of the inks or nanomaterial suspensions can optimize the print quality. Raman analysis was used to characterize the oxide materials and carbon nanotubes printed using this technique, revealing high quality prints. The printed carbon nanotubes were used in a gas sensor chip and shown to provide good ammonia detection capability.