The smooth design of self-supporting topologies has attracted great attention in the design for additive manufacturing (DfAM) field as it cannot only enhance the manufacturability of optimized designs but can obtain light-weight designs that satisfy specific performance requirements. This paper integrates Langelaar’s AM filter into the Smooth-Edged Material Distribution for Optimizing Topology (SEMDOT) algorithm—a new element-based topology optimization method capable of forming smooth boundaries—to obtain print-ready designs without introducing post-processing methods for smoothing boundaries before fabrication and adding extra support structures during fabrication. The effects of different build orientations and critical overhang angles on self-supporting topologies are demonstrated by solving several compliance minimization (stiffness maximization) problems. In addition, a typical compliant mechanism design problem—the force inverter design—is solved to further demonstrate the effectiveness of the combination between SEMDOT and Langelaar’s AM filter.