Tensegrity represents systems composed of linear elements in tension and compression in a stable state of self-equilibrium. Tensegrity applications can be found in art, science and engineering and across scales from the conception of metamaterials and the simulation of biological cells to the design of structural elements and systems. Therefore,  the topology (element connectivity)  identification and form  (geometry/shape) finding of tensegrity systems have been extensively studied since the introduction of the concept. Although there is a clear link between topology and form in tensegrity systems, research on topology identification and form finding is often conducted in silos with topology being a research topic in mathematics (i.e. rigidity theory and graph theory), while form finding has been mainly studied by structural and mechanical engineers. In this work, a  bio-inspired approach for the combined topology and form finding of tensegrity systems is introduced. Tensegrity cells,  elementary infinitesimally rigid self-stressed structures that have been mathematically proven to compose any tensegrity system,  are used to generate complex tensegrity structures through the multiplication mechanisms of adhesion and fusion.  Cellular morphogenesis can thus control key design features of tensegrity systems, such as their shape, their degree of damage tolerance and their mechanical behavior, by regulating the number of self-stress states and the creation of infinitesimal mechanisms in the system.  Consequently,  the method provides great flexibility and control over the generated tensegrity structures opening the realm for novel more efficient tensegrity systems in art, science and engineering.