In this study, soft microcontact printing with force control using microrobotic assembly based templates is investigated. Polystyrene microparticles are assembled automatically in a 2-D desired pattern on a glass substrate using an Atomic Force Microscope nanoprobe installed on a nanopositioning stage. A force-controlled printing process of the patterned stamp is conducted after making a template and stamp from the assembled mircoparticles. Aluminum sputtering of the pattern on the glass and ultrasonically removing the microparticles is used to make a template. Soft lithography method is used to mold elastomeric polymers on the template to make a stamp. The stamp is inked and printed with a force-controlled system on a Petri dish substrate. Depending on the particle size and contact force, a smaller micro or nanometer size pattern can be formed. Since the spherical patterns on the stamp collapse due to the interfacial contact force, force-controlled microcontact printing is crucial. Using a fluorescent protein for inking the stamps enables the fluorescent imaging of the imprints. Preliminary experiments using 5 μm and 10 μm diameter polystyrene particles showed the feasibility of our technique. Thus, it is possible to get nanopatterns using assembled microparticle based stamps in high volumes.