Light stimulation can realise the remote control of the deformation of the specific position of 4D printing structure. Shape-memory polymer–carbon nanotube (CNT) composite materials, with outstanding near-infrared photothermal conversion rate and shape-memory ability, is one type of the most popular light responsive smart materials. However, current studies focused on the photothermal effect and shape-memory applications of light-responsive shape-memory polymer composite (SMPC) sheet structures, and there is no research on the photothermal effect in the depth direction of light-responsive SMPC three-dimensional structures. Here, we prepared a UV curable, mechanically robust, and highly deformable shape-memory polymer (IBBA) as the matrix of light responsive SMPC. CNTs were added as photothermal conversion materials. We explore the photothermal effect of near-infrared laser on the surface and depth of IBBA–CNT composites cube. Shape-memory experiments show that different folded shapes can be obtained by selective near-infrared laser programming. Selective near-infrared laser programming three-dimensional movable type plate shows a programming application in depth direction of three-dimensional light-responsive intelligent structure. This research extends the application of near-infrared laser in 4D printing to the depth direction of intelligent structures, which will bring more complex and interesting 4D printing structures in the future.