Soft machines will require soft materials that exhibit a rich diversity of functionality, including shape morphing and photoresponsivity. The combination of these functionalities enables useful behaviors in soft machines that can be further developed by synthesizing materials that exhibit localized responsivity. Localized responsivity of liquid crystal elastomers (LCEs), which are soft materials that exhibit shape morphing, can be enabled by formulating composite inks for direct ink writing (DIW). Gold nanorods (AuNRs) can be added to LCEs to enable photothermal shape change upon absorption of light through a localized surface plasmon resonance. We compared LCE formulations, focusing on their amenability for printing by DIW and the photoresponsivity of AuNRs. The local responsivity of different three-dimensional architectures enabled soft machines that could oscillate, crawl, roll, transport mass, and display other unique modes of actuation and motion in response to light, making these promising functional materials for advanced applications.