This paper presents the design of fully metallic 3D Vivaldi antenna that can be used for wireless power transmission applications. The 3D antenna consists of 1) a tapered profile, 2) a rectangular cavity, and 3) a horizontal slot cut that is used as a transition between the cavity and the tapered profile. The proposed antenna design is fabricated using two distinct approaches, the first of which is a 3D metal additive manufacturing (AM scheme) with a sequential material layer addition technique. The second version is based on the CNC milling (CNCM) technique implemented by selectively removing material in a controlled way. The measured gain of the AM and CNCA-based 3D Vivaldi antenna is 4.95 dBi, and 5.70 dBi, respectively. The measured bandwidth (BW) of the AM-based 3D antenna is 4.70 GHz (fractional BW (FBW) of 52.86%), whereas the CNCM-based 3D antenna is 4.95 GHz (FBW of 56.73%). Measurement outcomes indicate that the CNCM version of the 3D Vivaldi antenna is ∼ 1.2x more effective than the AM version in terms of realized gain and can be used for metal-based antenna system power telemetry due to its high gain and wide operational bandwidth capability.INDEX TERMS All-metal antenna, Slot-Connected Cavity, 3D Vivaldi antenna, CNC manufacture, additive manufacture, wireless power transfer (WPT), wireless power telemetry.