The behavior of cavity collapse in liquids is of fundamental importance in natural and industrial applications. It is still challenging to use the phenomenon of cavity collapse ejection in on-demand droplet printing technology. In this study, we investigate the cavity collapse ejection phenomenon in the submillimeter to millimeter scale and demonstrate that the cavity capillary energy is a critical factor affecting the state of the generated jet. Based on this phenomenon, we developed a droplet printing technology that can print nanoliter satellite-free droplets from a millimeter-sized nozzle, which reduces the risk of nozzle clogging. Using this printing technology, we demonstrated the printing of a nanoparticle suspension with 60% mass loading. Finally, we also showcased the printing of various inks for different applications using this technology, demonstrating the printability of cavity collapse-ejection printing technology in functional inks and showing potential to be applied in scenarios such as bioassays, the electronics industry, and additive manufacturing.