Soft actuators exhibit activeness and flexibility and are widely used as next-generation intelligent devices. However, their locomotion depends on friction with contact surfaces that restrict their movement. To overcome this limitation, a noncontact-type multiresponsive soft actuator that levitates in a magnetic field is proposed. This soft actuator can respond to humidity, heat, and diamagnetic repulsion force stimuli, resulting in high degrees of freedom and multiple motions. The soft actuator is fabricated by coating a highly hygroscopic membrane onto a diamagnetic graphite film, which enables the actuator to levitate in the magnetic field. Bending actuation is induced by the swelling mismatch between the two layers via the hygrothermal response. The translational force driven by local concentrated heating of the actuator leads to the realization of high-speed linear and curvilinear motions. Frictionless rotational motion is also realized remotely with broad heating of an asymmetrically bent soft actuator, generating nonzero torque acting on the floating soft actuator. The proposed levitating soft actuators are applied to a fast and reliable capsule-delivery gripper and a remotely controllable levitated motor. The soft actuator exhibits the potential to be applied in a wide range of applications, such as soft robotics and smart mechanical devices.