As part of a multiyear agreement, Hershey and 3D Systems will co-develop a variety of 3-D printed chocolate and nonchocolate items.
(Read more: Watch out, Nutella! Hershey wants in)
"Whether it's creating a whole new form of candy or developing a new way to produce it, we embrace new technologies such as 3-D printing as a way to keep moving our timeless confectionery treats into the future," said William Papa, Hershey's vice president and chief research and development officer.
In the release, 3D Systems says it invented 3-D printing and was the first company to commercialize the technology.
"Mainstreaming 3-D printing is fundamental to our success and we are fortunate to partner with Hershey, the largest producer of quality chocolate in North America and a global leader in chocolate and confection to expand the 3-D printing experience into delectable edibles," said Chuck Hull, the company's CTO.
—By CNBC's Katie Little. Follow her on Twitter