In Nacajuca, building a home with Icon’s Vulcan II printer looks much like a massive soft-serve ice cream cone: Layers of lavacrete, the company’s proprietary concrete mix, are poured one after another in long swirls. The printer is controlled by a tablet or smartphone, requires as few as three workers and can complete a home in less than 24 hours.

“We know that being able to build more quickly, without sacrificing quality, is something that we have to make huge leaps on if we’re going to even make a dent on the issue of housing in our lifetime,” said Brett Hagler, New Story’s chief executive and one of four founders.

The organization was started in 2015, shortly after Mr. Hagler took a trip to Haiti and saw families still living in tents years after the 2010 earthquake there. Across the globe, 1.6 billion people live with inadequate housing, according to Habitat for Humanity.

“We’re really looking at the biggest opportunities to have both impact and efficiency gains,” said Alexandria Lafci, one of the New Story founders. “There is a very significant gain in speed that you get with 3-D printing, without sacrificing quality.”

Speed is only one factor in bringing a village to completion — New Story has teamed up with local officials in Tabasco to bring sewage services, electricity and water to the community.

Mr. Hernández, who has plans to expand his construction business to a larger space in his new home, said he was not focused on a move-in date. He cares about the long-term impact the home will have for his daughter, who is studying to become a nurse.

“When we receive the house, my daughter will be able to rely on it,” he said. “She won’t have to worry anymore.”

Échale, which has been operating in Mexico for 24 years, helped New Story select residents for the new homes based on need. It decided to sign the titles of each home not to a whole family but to the woman of the house.

“It’s to protect the family,” said Francesco Piazzesi, Échale’s chief executive. “A man will sell a house if they need to. A woman will do whatever she needs to do to save the house for her children and her family.”

Échale hires local workers to build their own communities, so plopping a 3-D printer from an American tech company into the heart of a rural village was a shift.

“If you came to Nacajuca when the 3-D printer was there, you would see machinery that looked like a RoboCop movie,” Mr. Piazzesi said. “It’s creating opportunities for the people because something gets into the community and it lasts.”

Icon has delivered more than two dozen 3-D-printed homes across the United States and Mexico. Its coming projects run the gamut from social housing to disaster relief housing to market-rate real estate. A project is also in the works with NASA to develop space-based construction systems that it hopes will eventually serve as habitats on both the moon and Mars.

When Icon was founded, its biggest hurdle was convincing skeptics, said Jason Ballard, one of Icon’s founders and its chief executive.

“I had builders and developers explaining to me how it’s not possible to get concrete to do that, even as I walked them up to our 3-D printed house,” he said. “Now our biggest challenge is we’ve just got to make more printers.”

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