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In this letter, we present a two-dimensional 2-bit 4 × 4 phased-array antenna on a flexible Kapton substrate fabricated using inkjet printing. Printed carbon nanotube thin-film transistors (CNT-TFTs) form the switching elements in the phase-shifting network. A multilayer interconnection scheme has been utilized to fully package the subsystem and enable convenient access of the control lines to the 64 CNT-TFTs. By appropriately controlling the on and off states of the TFT switches using a computer mainframe, beam steering of a 5-GHz RF signal at four steering angles of θ = 0°, φ = 0°; θ = 14.5°, φ = 0°; θ = 20.7°, φ = -45°; and θ = 34°, φ = -26.5° are experimentally demonstrated. The insertion loss and the power consumption by the switch array are measured to be 8.17 dB and 11.2 mW, respectively .