This paper presents the development of dielectric materials with tailored dielectric properties (electric permittivity and loss tangent) at Gigahertz frequencies for their use in low-cost millimeter-wave flexible Direct Ink Write (DIW) printed antennas. The materials can be created to exhibit specific mechanical properties (liquid, semi-solids, temperature-sensitivity, ink adhesion, flexibility, or stretchability) to cover different application needs. Electromagnetic performance of microstrip antennas manufactured through DIW technique on two crafted custom semi-solid materials will be presented for millimeter-wave applications. The antennas exhibit remarkable characteristics for 6G systems, particularly in terms of cost-effectiveness, owing to the low-cost fabrication process employed.