I don't know if one can foam natural rubber to the same fine consistency as crocs. I'd probably create a solid shell and then add the foam inner sole if I were to design it.
Also: no shortcuts, unfortunately
https://www.wevolver.com/article/3d-printed-rubber-whats-possible-and-what-isnt
> Is it possible to 3D print rubber? In a strict sense, no. But with a huge number of flexible filaments and flexible resins out there, it is possible to make pliable, rubber-like parts suitable for a range of applications.