In ultracold-atom and ion experiments, flexible control of the direction and amplitude of a uniform magnetic field is necessary. It is achieved almost exclusively by controlling the current flowing through coils surrounding the experimental chamber. Here, we present the design and characterization of a modular, analog electronic circuit that enables three-dimensional control of a magnetic field via the amplitude and direction of a current flowing through three perpendicular pairs of coils. Each pair is controlled by one module, and we are able to continuously change the current flowing thorough the coils in the ±4 A range using analog waveforms such that smooth crossing through zero as the current’s direction changes is possible. With the electrical current stability at the 10−5 level, the designed circuit enables state-of-the-art ultracold experiments. As a benchmark, we use the circuit to compensate stray magnetic fields that hinder efficient sub-Doppler cooling of alkali atoms in gray molasses. We demonstrate how such compensation can be achieved without actually measuring the stray fields present, thus speeding up the process of optimization of various laser cooling stages.