Flexible resistive force sensors are useful for wearable, rehabilitation, and human--machine interfaces, but their performance depends on sensing-material architecture and fabrication. This work presents a parameterized Voltera NOVA-based direct-ink-writing workflow using printed silver electrodes with multilayer Velostat sensing elements on PET and TPU substrates, together with an exploratory fully printed carbon architecture. Velostat sensors containing 1, 2, 4, and 6 sensing layers exhibited strongly nonlinear force--voltage responses, with the greatest sensitivity at low forces. Best-fit straight-line $R^2$ values ranged from 0.475 to 0.641, area-based hysteresis from 3.90\% to 7.47\%, and 5-min voltage drift from 1.9\% to 7.3\%, with no consistent monotonic relationship between layer count and these metrics. Selected PET6 and TPU6 devices showed less than 0.05~V change in peak output between the first and final 100 cycles of a 10,000-cycle test. Printed-carbon devices demonstrated the feasibility of a more fully printed architecture, but configurations with six or fewer layers saturated below approximately 0.5~N or were nonfunctional, while the eight-layer device responded primarily below approximately 2~N. These results establish the feasibility of the printed-electrode Velostat workflow while identifying printed sensing materials as a key area for further development.

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