We present the measurement of the Hubble Constant, H 0 , with three strong gravitational lens systems. We describe a blind analysis of both PG 1115+080 and HE 0435−1223 as well as an extension of our previous analysis of RXJ 1131−1231. For each lens, we combine new adaptive optics (AO) imaging from the Keck Telescope, obtained as part of the SHARP AO effort, with Hubble Space Telescope (HST ) imaging, velocity dispersion measurements, and a description of the line-of-sight mass distribution to build an accurate and precise lens mass model. This mass model is then combined with the COSMOGRAIL measured time delays in these systems to determine H 0 . We do both an AO-only and an AO+HST analysis of the systems and find that AO and HST results are consistent. After unblinding, the AO-only analysis gives H 0 = 82.8 +9.4 −8.3 km s −1 Mpc −1 for PG 1115+080, H 0 = 70.1 +5.3 −4.5 km s −1 Mpc −1 for HE 0435−1223, and H 0 = 77.0 +4.0 −4.6 km s −1 Mpc −1 for RXJ 1131−1231. The joint AOonly result for the three lenses is H 0 = 75.6 +3.2 −3.3 km s −1 Mpc −1 . The joint result of the AO+HST analysis for the three lenses is H 0 = 76.8 +2.6−2.6 km s −1 Mpc −1 . All of the above results assume a flat Λ cold dark matter cosmology with a uniform prior on Ω m in [0.05, 0.5] and H 0 in [0, 150] km s −1 Mpc −1 . This work is a collaboration of the SHARP and H0LiCOW teams, and shows that AO data can be used as the high-resolution imaging component in lens-based measurements of H 0 . The full time-delay cosmography results from a total of six strongly lensed systems are presented in a companion paper.