diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
index bab5d67798..622a79e9bc 100644
--- a/.github/workflows/gradle.yml
+++ b/.github/workflows/gradle.yml
@@ -111,7 +111,7 @@ jobs:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Sign Libraries with Developer ID
-        run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
diff --git a/build.gradle b/build.gradle
index ad0eb6b067..29f578034c 100644
--- a/build.gradle
+++ b/build.gradle
@@ -136,8 +136,10 @@ subprojects {
     }
 
     // Sign outputs with Developer ID
-    if (project.hasProperty("developerID")) {
-        tasks.withType(AbstractLinkTask) { task ->
+    tasks.withType(AbstractLinkTask) { task ->
+        task.inputs.property "HasDeveloperId", project.hasProperty("developerID")
+
+        if (project.hasProperty("developerID")) {
             // Don't sign any executables because codesign complains
             // about relative rpath.
             if (!(task instanceof LinkExecutable)) {
diff --git a/datalogtool/publish.gradle b/datalogtool/publish.gradle
index 9608bef7b6..e8228429fb 100644
--- a/datalogtool/publish.gradle
+++ b/datalogtool/publish.gradle
@@ -37,6 +37,8 @@ model {
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
+                            inputs.property "HasDeveloperId", project.hasProperty("developerID")
+
                             doLast {
                                 if (project.hasProperty("developerID")) {
                                     // Get path to binary.
diff --git a/glass/publish.gradle b/glass/publish.gradle
index b127c11321..5e7cbaf7d5 100644
--- a/glass/publish.gradle
+++ b/glass/publish.gradle
@@ -92,6 +92,8 @@ model {
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
+                            inputs.property "HasDeveloperId", project.hasProperty("developerID")
+
                             doLast {
                                 if (project.hasProperty("developerID")) {
                                     // Get path to binary.
diff --git a/outlineviewer/publish.gradle b/outlineviewer/publish.gradle
index 85bb26c69a..9c53ae5b60 100644
--- a/outlineviewer/publish.gradle
+++ b/outlineviewer/publish.gradle
@@ -37,6 +37,8 @@ model {
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
+                            inputs.property "HasDeveloperId", project.hasProperty("developerID")
+
                             doLast {
                                 if (project.hasProperty("developerID")) {
                                     // Get path to binary.
diff --git a/roborioteamnumbersetter/publish.gradle b/roborioteamnumbersetter/publish.gradle
index 10b9de1d0f..da6a0f6d63 100644
--- a/roborioteamnumbersetter/publish.gradle
+++ b/roborioteamnumbersetter/publish.gradle
@@ -37,6 +37,8 @@ model {
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
+                            inputs.property "HasDeveloperId", project.hasProperty("developerID")
+
                             doLast {
                                 if (project.hasProperty("developerID")) {
                                     // Get path to binary.