The invention discloses a 3D printing machine with a three-dimensional figure feedback system and a printing method of the 3D printing machine. The 3D printing machine comprises a rack, a printing platform, a printing spray head, a material box, a feeding device, a drive device, a control system, a computer, a support mounted on the outer side of the drive device and a 3D scanner which is arranged on the support and used for scanning a printed article. In the product forming process, the 3D scanner is used for scanning a semi-finished workpiece or a blank, the three-dimensional profile of the workpiece is obtained and compared with a three-dimensional model of a target product through graphics operation, the motion path and printing parameters of the printing machine are adjusted according to a result, and therefore feedback control of the printing process is achieved, and the 3D printing forming precision and the printing efficiency are improved.