Encoded sewing constraints enable the creation of soft textile robots with programmable 3D shape morphing and motion. The study introduces a method called encoded sewing constraint (ESC) that uses 2D sewing to construct 3D soft textile robots. By encoding heterogeneous stretching properties into three spatial seams of the sewn 3D textile shells, the nonlinear inflation of the inner bladder can be guided to follow predefined spatial shapes and actuation sequences, such as tendril-like shape morphing, tentacle-like sequential manipulation, and bioinspired locomotion controlled by a single pressure source. This design is flexible, efficient, scalable, and low-cost, accelerating the development of soft robots and enabling safe human-robot interactions, tailored wearable devices, and healthcare applications. The study addresses the challenge of designing and manufacturing soft textile robots with highly programmable and controllable 3D shape morphing and complex motions. Traditional methods for creating anisotropic mechanics in textiles have design limitations in 3D morphing and multidimensional motion, and require complex preparation processes or specialized equipment. The ESC method overcomes these challenges by using a simple 2D sewing process to create 3D textile shells with programmed global strain constraints. The method involves encoding different stitch features into the seams of the textile to regulate stretchability and achieve the desired deformation and actuation sequences. The study demonstrates the effectiveness of the ESC method through various experiments, including 2D and 3D soft textile robots with different shapes and functions. The results show that the ESC method enables high-dimensional programmability, customizable design, and easy manufacturing of soft textile robots. The method also allows for the creation of complex functionalities, such as a 3D morphing robot that closely resembles the natural morphology of a cucumber tendril, and a tentacle-like robot that can perform sequential manipulations like winding, transporting a paper cup, and pouring water from it using a single pressure source. The study also demonstrates the application of the ESC method in creating bioinspired soft robots with different locomotion mechanisms, such as a somersaulting robot and a caterpillar-inspired crawling robot. These robots can perform complex movements and are controlled by a single pressure source. The ESC method also enables the creation of soft grippers and other wearable devices for rehabilitation and orthopedics. The study concludes that the ESC method provides an efficient and systematic design and manufacturing methodology for highly programmable and customizable 3D soft textile robots. The method is scalable, versatile, and shows substantial progress in the design and fabrication of active textiles and soft robots. The ESC method is a ready-to-use method that can be applied to various customized requirements without prior preparation for fabricating and modifying special fibers or adjustments for equipment. The study also highlights the potential of integrating sensing, logic, communication, and powering capabilities into soft textile robots to accelerate the development of the next generation of customizable smart textile robots for real-world applications.Encoded sewing constraints enable the creation of soft textile robots with programmable 3D shape morphing and motion. The study introduces a method called encoded sewing constraint (ESC) that uses 2D sewing to construct 3D soft textile robots. By encoding heterogeneous stretching properties into three spatial seams of the sewn 3D textile shells, the nonlinear inflation of the inner bladder can be guided to follow predefined spatial shapes and actuation sequences, such as tendril-like shape morphing, tentacle-like sequential manipulation, and bioinspired locomotion controlled by a single pressure source. This design is flexible, efficient, scalable, and low-cost, accelerating the development of soft robots and enabling safe human-robot interactions, tailored wearable devices, and healthcare applications. The study addresses the challenge of designing and manufacturing soft textile robots with highly programmable and controllable 3D shape morphing and complex motions. Traditional methods for creating anisotropic mechanics in textiles have design limitations in 3D morphing and multidimensional motion, and require complex preparation processes or specialized equipment. The ESC method overcomes these challenges by using a simple 2D sewing process to create 3D textile shells with programmed global strain constraints. The method involves encoding different stitch features into the seams of the textile to regulate stretchability and achieve the desired deformation and actuation sequences. The study demonstrates the effectiveness of the ESC method through various experiments, including 2D and 3D soft textile robots with different shapes and functions. The results show that the ESC method enables high-dimensional programmability, customizable design, and easy manufacturing of soft textile robots. The method also allows for the creation of complex functionalities, such as a 3D morphing robot that closely resembles the natural morphology of a cucumber tendril, and a tentacle-like robot that can perform sequential manipulations like winding, transporting a paper cup, and pouring water from it using a single pressure source. The study also demonstrates the application of the ESC method in creating bioinspired soft robots with different locomotion mechanisms, such as a somersaulting robot and a caterpillar-inspired crawling robot. These robots can perform complex movements and are controlled by a single pressure source. The ESC method also enables the creation of soft grippers and other wearable devices for rehabilitation and orthopedics. The study concludes that the ESC method provides an efficient and systematic design and manufacturing methodology for highly programmable and customizable 3D soft textile robots. The method is scalable, versatile, and shows substantial progress in the design and fabrication of active textiles and soft robots. The ESC method is a ready-to-use method that can be applied to various customized requirements without prior preparation for fabricating and modifying special fibers or adjustments for equipment. The study also highlights the potential of integrating sensing, logic, communication, and powering capabilities into soft textile robots to accelerate the development of the next generation of customizable smart textile robots for real-world applications.