The scale-invariance of origami and kirigami designs provides an exciting platform for the development of microscale robotic devices. The development of microscale origami-inspired machines can aid in biological applications where it is necessary to deploy a device in a small, folded state, and have it unfold at a destination where it interacts with its environment. In developing such a device, it is necessary to have i) a robust material with low bending stiffness and ii) a remote actuation mechanism that initiates folding. For the former we use graphene, a resilient material that is atomically thin, allowing for easy bending to small radii of curvature. For the latter, the answer is not as obvious. One mechanism that has been successfully employed in microscale actuators is magnetism. Magnetic actuation offers the benefits of remote actuation while selectively affecting only magnetic materials. We explore the potential of using long-range magnetic forces to manipulate and fold graphene-based devices. We use photolithography techniques to pattern CVD grown graphene and deposit magnetic materials directly onto the graphene. Using external magnetic fields and field gradients, we manipulate and apply forces to magnetic graphene devices. We examine a range of device types to display the versatility of magnetic actuation and its applicability toward 2D-to-3D origami-inspired microfabrication.