Micromechanical properties of polymeric materials play a critical role in various biological applications in terms of their biocompatibility and mechanical durability. Apart from material properties such as modulus and density, viscoelastic properties play a crucial role during the design and fabrication of devices. Here, we investigated the viscoelastic properties of poly (glycerol sebacate) (PGS), a widely used bioresorbable elastic material, through the nanoindentation technique, configured by the continuous stiffness measurement (CSM) method at frequencies from 10 Hz to 50 Hz. The results revealed that the storage modulus (E’) depends on the test frequency and cannot be ignored as the results showed significant changes. Additionally, increasing the curing temperature of PGS specimens between 150 to 170°C allows modifying the storage modulus of samples between 0.52 MPa and 1.05 MPa at 10 Hz. The results were also confirmed using the dynamic mechanical measurements to validate the reliability of the CSM nanoindentation technique.