Precise information on forest canopy height (FCH) is critical for forest carbon stocks estimation and management, but mapping continuous FCH with satellite data at regional scale is still a challenge. By fusing ICESat-2, Sentinel-1/2 images and ancillary data, this study aimed to develop a workflow to obtain an FCH map using a machine learning algorithm over large areas. The vegetation-type map was initially produced by a phenology-based spectral feature selection method. A forest characteristic-based model was then proposed to map spatially continuous FCH after a multivariate quality control. Our results show that the overall accuracy (OA) and average F1 Score (F1) for eight main vegetation types were more than 90% and 89%, respectively, and the vegetation-type map agreed well with the census areas. The forest characteristic-based model demonstrated a greater potential in FCH prediction, with an R-value 60.47% greater than the traditional single model, suggesting that the addition of the multivariate quality control and forest structure characteristics could positively contribute to the prediction of FCH. We generated a 30 m continuous FCH map by the forest characteristic-based model and evaluated the product with about 35 km2 of airborne laser scanning (ALS) validation data (R = 0.73, RMSE = 2.99 m), which were 45.34% more precise than the China FCH, 2019. These findings demonstrate the potential of our proposed workflow for monitoring regional continuous FCH, and will greatly benefit accurate forest resources assessment.