This work presents a comprehensive investigation of the actuation and deformation response of adaptive soft thermoplastic polyurethane (TPU) structures manufactured using a novel semi 3D-printing process with embedded loop-shaped shape memory alloy (SMA) wire actuators. A combined experimental and numerical methodology is used to evaluate the achievable bending and coupled bending-torsion deformation modes of these soft structures. The results demonstrate the feasibility of the semi 3D-printing process for realizing complex-shaped soft robotic structures with embedded SMA wire actuators. It is shown that the characteristic bending deformation behavior of the specimens depends on the embedded length of SMA wire, with smaller loop radii leading to increased deformation upon activation. The numerical analysis results achieved using a novel SMA material model based on the model by Woodworth et al. agrees well with the experimental results, with deviations ranging between 0.6% and 20.6%. The investigation of a specimen with a complex arrangement of SMA wire shows a more complex deformation behavior with a bending-torsion deformation mode. The results contribute to the development of novel soft robotic structures with embedded SMA wire actuators and provide a framework for future research in this area, with implications for the simulation-based design and optimization of soft robotic systems.