Bio-actuators, leveraging living materials for controllable movement, primarily utilize functional muscle tissue capable of contracting in response to applied electrical fields. Engineered skeletal muscle tissue - favored for its biodegradability, softness, tailorable design, energy conversion efficiency, and potential for compliant motion - has been widely used as an actuator for bio-hybrid robots. However, this tissue is typically stimulated by submerging electrodes in the tissue culture bath, thus exposing all cells to the same electrical field. This limits our ability to control discrete tissue areas and generate complex motion responses. Furthermore, a nuanced understanding of cellular contractions in discrete tissue areas is crucial to tailor electrical stimulation for zone-specific activation. Currently, a strategy to understand and control cell behavior with high resolution, and achieve localized actuation control of engineered muscle tissue is missing. To address this challenge, we formulated a composite piezoresistive hydrogel to manufacture soft electrodes and sensors, and integrated these components within a skeletal muscle tissue-based bio-actuator during its biofabrication via extrusion-based multi-material bioprinting, achieving a spatial resolution of 1 µm. Manual hydrogel deposition was used as a control method. We expected the composite piezoresistive hydrogel, enriched with conductive fillers like polypyrrole or PEDOT:PSS, to enable localized distribution of electrical fields and sensing of mechanical stress information, thus enabling fine activation and control of actuation during contractions. We investigated the effects of the conductive inks and biofabrication method on cell viability and tissue formation on one-layer planar bionic muscle constructs measuring 15 x 10 x 1 mm (L x W x H). While polypyrrole did not support cellular alignment, myotube formation or contraction, PEDOT:PSS-enriched tissues exhibited cell growth, and alignment, and developed into contractile tissue. By combining enhanced functionality with a streamlined fabrication method, this approach will impact how sensorized implants, organ-on-a-chip devices and biohybrid robots are developed in the future. Leveraging localized sensing through our composite piezoresistive hydrogel, we open up new possibilities for developing more responsive, adaptable and efficient bio-actuated systems.