In this study, soft actuators comprising conductive fibers, flexible polymers, and shape memory alloys, which can be used as textile products, are introduced. Conductive fibers play an important role because they can be used as sensors in wearable devices. The conductive fiber introduced in this study is a form that can be combined with a polymer, and it comprises a form wrapped around a flexible polymer. When an electric current is applied to the shape memory alloy embedded in the polymer, macroscopic deformation occurs due to phase transformation from the Martensite to the Austenite phase. Conductive fibers used in soft actuators are affected by resistive heat generated by the shape memory alloy and bending deformation of the actuator. Accordingly, changes in the conduction properties of conductive fibers were observed due to bending deformation and temperature changes. We also fabricated soft actuators with different types of polymers and observed the differences. The soft actuator presented in this study is a one-piece combination of a conductor and an actuator using a textile-type conductor, and it is likely to be used in smart clothing applications.