We consider the problem of imaging extended reflectors in three-dimensional acoustic waveguides using a planar array that is parallel to the waveguide’s cross-section. Our data consist of the multiple-frequency array response matrix. To form an image, we back-propagate a projection of the data on the propagating modes in the waveguide. The projection operator is adequately defined for any array-aperture size and shape that cover fully or partially the waveguide cross-section. The properties of the imaging method are analyzed theoretically and its effectiveness is assessed by numerical experiments for scatterers and arrays of varying shape and size.