Fusion-based　metal　additive　manufacturing　(AM)　processes　are　becoming　progressively　mature　in　some　material　systems.　However,　the　printing　of　high　strength　aluminum　alloy　remains　a　considerable　challenge　due　to　its　unavoidable　solidification　defects.　In　this　study,　a　novel　solid-state　additive　manufacturing　process,　being　referred　to　as　Friction　and　Rolling　based　Additive　Manufacturing　(FRAM),　was　developed　to　print　AA6061.　The　method　developed　here　achieved　heat　generation　and　continuous　material　addition　simultaneously,　using　a　modified　horizontal　CNC　machine.　The　results　indicate　that　fully　dense　microstructure　with　defect-free　and　refined　grain　was　successfully　obtained　using　the　FRAM　method.　The　adjacent　layers　have　achieved　good　bonding　without　melting　because　the　material　at　the　top　surface　of　the　previous　layer　experience　a　secondary　friction,　which　can　enhance　the　interface　metallurgical　bonding　and　eliminate　the　potential　interface　defects.　The　grain　size　of　the　deposited　material　was　significantly　reduced　compared　to　that　of　feeding　material　because　of　dynamic　recrystallization　caused　by　severe　plastic　deformation.　This　also　led　to　the　significant　increase　in　elongation　of　the　deposited　material.　The　deposited　material　showed　ductile　fracture　in　both　horizontal　and　vertical　directions.　The　proposed　process　has　the　potential　to　print　other　non-weldable　engineering　alloys　that　are　sensitive　to　solidification　defects.