Self-healing hydrogels may mimic the behavior of living tissues, which can autonomously repair minor damages, and therefore have a high potential for application in biomedicine. So far, such hydrogels have been processed only via extrusion-based additive manufacturing technology, limited in freedom of design and resolution. Herein, we present 3D-printed hydrogel with self-healing ability, fabricated using only commercially available materials and a commercial Digital Light Processing printer. These hydrogels are based on a semi-interpenetrated polymeric network, enabling self-repair of the printed objects. The autonomous restoration occurs rapidly, at room temperature, and without any external trigger. After rejoining, the samples can withstand deformation and recovered 72% of their initial strength after 12 hours. The proposed approach enables 3D printing of self-healing hydrogels objects with complex architecture, paving the way for future applications in diverse fields, ranging from soft robotics to energy storage.