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Abstract: Wireless millirobots, engineered to infiltrate the intricate vascular and cavitary network within living organisms, particularly within constricted and confined spaces, hold immense promise for the future of medical treatments. However, some robots, with their multifaceted and intricate designs, often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions. Here, drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes, a millimeter-scale snake-like robot alongside a sophisticated motion control strategy is designed and fabricated via combination of extrusion-based four-dimensional (4D) printing and magnetic-responsive intelligent functional inks. We also develop a sophisticated motion control strategy that enables the robots to perform various dynamic movements, such as undulating swimming, precise turns, graceful circular motions, and coordinated cluster movements, under diverse magnetic field variations. As a potential application, the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling. The novel design and promising applications of this snake robot are poised to emerge as invaluable tools in the realm of future medical surgeries and interventions.