I can see how theoretically you could print a negative mold for casting, either Resin or rubber in the case of Undersuit or Tech suit parts, but I'm not sure how successful it would be. For one thing, I think it would very difficult to smooth and clean up the printed molds for use. It can already be a pain to finish 3d printed parts, now imagine trying to do that inside out and backwards. Also, most molds end up being done in Silicone (With an exterior shell to hold them then place during the casting process) because not much sticks to silicone, making demolding easier, and the silicone is flexible, allowing, again, for easy demolding of the piece in question.
I think the better idea is to go the traditional route of print the piece, clean it up, then use that as the master and make a silicone mold of the cleaned up piece, and cast it from there in your desired material.