We describe the fabrication of porous foams with shape memory triggering at body temperature. Employing a modified porogen-leaching technique, functionalized poly(ε-caprolactone) (PCL) and poly(ethylene glycol) (PEG) macromers are crosslinked via thiol–ene chemistry to generate highly porous foam scaffolds with shape memory capacity. The temperature at which shape change of these scaffolds occurs under hydrated conditions can be tuned both through control of the chemical composition and through deformation temperature during mechanical programming of the scaffolds. Uniquely, the foams exhibit reversible actuation in compression, which has not previously been demonstrated for foams. Our results indicate that PCL–PEG shape memory foams have potential as programmable scaffolds for tissue engineering, regenerative medicine, and the study of cell mechanobiology.