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3D printing is widely used to physically prototype the look and feel of 3D objects. Interaction possibilities of these prototypes, however, are often limited to mechanical parts or post-assembled electronics. In this paper, we present Capricate, a fabrication pipeline that enables users to easily design and 3D print highly customized objects that feature embedded capacitive multi-touch sensing. The object is printed in a single pass using a commodity multi-material 3D printer. To enable touch input on a wide variety of 3D printable surfaces, we contribute two techniques for designing and printing embedded sensors of custom shape. The fabrication pipeline is technically validated by a series of experiments and practically validated by a set of example applications. They demonstrate the wide applicability of Capricate for interactive objects.