Bioprinting is a promising technology focusing on tissue manufacturing, whose vital problem is the precise assembly of multiple materials. As the primary solution, the extrusion-based multi-printhead bioprinting (MPB) method requires printhead switching during the printing process, which induces inefficient motion time and material interface defects. We present a valve-based consecutive bioprinting (VCB) method to resolve these problems, containing a precise integrated switching printhead and a well-matched voxelated digital model. The rotary valve built-in the VCB printhead guarantees the precise assembling of different materials at the interface isolated from the viscoelastic inks' elastic potential energy in the cartridge. We study the coordinated control approach of the valve rotation and pressure adjustment to achieve the seamless switching, leading to a controllable multimaterial interface, including boundary and suture structure. Furthermore, we compare the VCB method and MPB method, quantitatively and comprehensively, indicating that the VCB method obtained greater mechanical strength (maximum tensile deformation increased by 44.37%) and higher printing efficiency (effective time ratio increased by 29.48%). As an exemplar, we fabricate a muscle-like tissue with a vascular tree, suture interface encapsulating C2C12, and human dermal fibroblasts (HDFB) cells, then placed it in complete medium with continuous perfusion for 5 d. Our study suggests that the VCB method is sufficient to fabricate heterogeneous tissues with complex multimaterial interfaces.