We demonstrate a tunable and fully enclosed fiber-based Bessel beam generator that has the potential for applications in a tough environment. This generator consists of a few-mode fiber (FMF), a short section of graded index fiber (GIF), and a 3D-printed helical axicon. The FMF provides tunable modes that carry an orbital angular momentum (OAM). The GIF was fused to the FMF to expand and collimate the generated modes. The helical axicon was 3D-printed on the GIF tip without any holes or gaps, which reshapes the OAM modes into Bessel modes and adds an additional helical phase structure to them, resulting in the generation of zeroth-order, first-order, and second-order Bessel beams. The fully enclosed structure provides high mechanical strength and optical stability, which enable the generator to be suitable for imaging or particle manipulation in a complex liquid or air environment.