Gypsum is one of the most commonly used construction materials in cladding and non-load-bearing decoration. Recently, 3D printing technology has been involved in creating complex geometry. The particle-based method is the principal approach in 3D gypsum printing. However, the complex device and limited printable range limit the massive production of large-scale building components. This paper proposed a novel extrusion-based gypsum printing method and corresponding robotic fabrication workflow. First, several experiments are conducted to analyze the effect of different admixtures (retarder, activation agent, and accelerator) on the material setting properties. Second, a set-on-demand gypsum-based material is proposed by actively controlling multiple admixtures. Then, a process parameterbased robotic fabrication workflow is proposed, and a set of extrusionbased 3D gypsum printing equipment is built. A curved gypsum panel sample is printed as experimental verification. By comparing to the particle-based method, The test sample shows that the extrusion-based method can effectively improve the production efficiency and reduce the production cost. Therefore, the proposed method gives a relatively efficient and cost-effective way to produce recyclable gypsum material massively.