Plasmonic nanostructures, which allow light focusing at the deep subwavelength scale, and colloidal nanoparticles with unique optoelectronic properties are nowadays fabricated with nanometer precision. However, to fully control and exploit nanoscale light-matter interactions in hybrid plasmonic-nanophotonic devices, both materials must be assembled in heterostructures with similar precision. Near-field optical forces have recently attracted much attention, as they can precisely trap and position nanoparticles at plasmonic hotspots. However, long-range attraction and the surface bonding of nanoparticles usually require other specific techniques, such as electrothermal heating and surface chemical treatments. This Letter reports on the optical trapping and deposition of dye-molecule nanoparticles in the nanogap of a gold antenna. The nanoparticles are captured by focusing a near-infrared laser beam on a targeted plasmonic antenna. This single-step deposition process requires only a few seconds under 1.4-1.8 MW·cm continuous-wave illumination and shows a polarization dependence smaller than expected. Fluorescence and electronic microscopy observations suggest that nanoparticle deposition arises from a trade-off between optical and thermal effects.