2D coil design limits the use of wireless power transfer (WPT) in many products with freeform outer shapes. In this paper, enabled by 3D printed electronics, we propose a systematic approach to design and fabricate 3D coils for WPT. Based on the circular spiral and rectangular spiral patterns, 3D receiver and transmitter coils can be generated on an arbitrarily selected region of a product and its offset, respectively. Mathematical models are proposed to estimate the self-inductance and the mutual-inductance of the 3D arbitrarily shaped coils for 3D WPT. This leads to a new design approach of a 3D WPT system. Several sets of 3D printed WPT systems were designed, simulated, and prototyped to demonstrate the effectiveness of the proposed design approach as well as the mathematical models. The calculation speed of the proposed mathematical models is 30 times faster than the simulation, and compared with the measurement results, the calculation results have mean absolute errors of 2.63% and 4.45% regarding the self-and the mutualinductance, where the simulation results have mean absolute errors of 1.20% and 2.38%, respectively. Measurements also indicate that with a 5V input, the prototypes are able to deliver 1-watt power at an efficiency ranging between 20.9% and 25.3%. It was concluded that the proposed approach is feasible and promising for designing and manufacturing WPT using 3D printed electronics.INDEX TERMS 3D coil, WPT, IPT, 3D printed electronics, design.