The paper introduces a novel methodology for constructing highly programmable and customizable 3D soft textile robots (STRs) through encoded sewing constraints. By encoding heterogeneous stretching properties into three spatial seams of the sewn 3D textile shells, 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 method simplifies the design and manufacturing process, making it more flexible, efficient, scalable, and cost-effective. The authors demonstrate the effectiveness of the encoded sewing constraint (ESC) method by fabricating various multifunctional STRs, including soft grippers, soft hands, and bioinspired locomotion robots, showcasing their potential for applications in human-robot interactions, wearable devices, and healthcare. The ESC method provides a systematic approach to designing and manufacturing STRs, reducing the complexity and cost associated with traditional soft robotics fabrication techniques.The paper introduces a novel methodology for constructing highly programmable and customizable 3D soft textile robots (STRs) through encoded sewing constraints. By encoding heterogeneous stretching properties into three spatial seams of the sewn 3D textile shells, 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 method simplifies the design and manufacturing process, making it more flexible, efficient, scalable, and cost-effective. The authors demonstrate the effectiveness of the encoded sewing constraint (ESC) method by fabricating various multifunctional STRs, including soft grippers, soft hands, and bioinspired locomotion robots, showcasing their potential for applications in human-robot interactions, wearable devices, and healthcare. The ESC method provides a systematic approach to designing and manufacturing STRs, reducing the complexity and cost associated with traditional soft robotics fabrication techniques.