In this paper, we manipulate EGaIn microdroplets using an atomic force microscope (AFM) to achieve controlled, on-demand, micrometer-sized contacts on gold surfaces functionalized with self-assembled monolayers (SAMs) of different n-alkanethiolates S(CH 2 ) n-1 CH 3 , where n = 4, 6, 8, and 10 is the number of carbon atoms (labelled Cn hereafter). We first fabricated microdroplets of EGaIn using ultrasonication, which we then picked up with a tipless AFM cantilever. The piezomotors of the AFM allowed us to position the attached microdroplet in 3D space with nanometric resolution and to make and break contacts repeatedly at different locations on the surface at will, i.e., forming on-demand contacts. The nanometric positional control and the force feedback loop allow us to control the force applied to the EGaIn droplet with nanonewton resolution and, consequently, tune the contact area with micrometer-scale resolution. The formation of wrinkles and cracks typically observed in EGaIn when contacting a surface at higher applied forces are effectively avoided because of the small forces applied (typically around 10 nN); the microdroplets remain spherical and smooth down to the nanoscale even after making repeated contacts. This is important in applications where good conformal (electrical) contact with the target surface is desired, such as in molecular/organic electronics and epidermal electronic devices.