Structural colors are promising candidates for their antifading and eco-friendly characteristics. However, high cost and complicated processing inevitably hinder their development. Here, we propose a facile full-color structural-color inkjet printing strategy with a single transparent ink from the common polymer materials. This structural color arisen from total internal reflections is prepared by digitally printing the dome-shaped microstructure (microdome) with well-controlled morphology. By controlling the ink volume and substrate wettability, the microdome color can be continuously regulated across whole visible regions. The gamut, saturation, and lightness of the printed structural-color image are precisely adjusted via the programmable arrangement of different microdomes. With the advantages of simple manufacturing and widely available inks, this color printing approach presents great potential in imaging, decoration, sensing, and biocompatible photonics.