Frequency-reconfigurable RF components are highly desired in a wireless system because a single frequency-reconfigurable RF component can replace multiple RF components to reduce the size, cost, and weight. Typically, the reconfigurable RF components are realized using capacitive varactors, PIN diodes, or MEMS switches, which are expensive, require tedious soldering steps, and are rigid and thus non-compatible with futuristic applications of flexible and wearable electronics. In this work, we have demonstrated vanadium dioxide (VO₂) based RF switches that have been realized through additive manufacturing technologies (inkjet printing and screen printing), which dramatically brings the cost down to a few cents. Also, no soldering or additional attachment step is required as the switch can be simply printed on the RF component. The printed VO₂ switches are configured in two types (shunt configuration and series configuration) where both types have been characterized with two activation mechanisms (thermal activation and electrical activation) up to 40 GHz. The measured insertion loss of 1-3 dB, isolation of 20-30 dB, and switching speed of 400 ns is comparable to other non-printed and expensive RF switches. Moreover, as an application for the printed VO₂ switches, a fully printed frequency reconfigurable filter has also been designed in this work.