Parts produced using a 3D printer are combined with friction stir welding (FSW). In the FSW processing of parts with a low infill ratio, welding errors occur due to a lack of material. In this study, plates were created using two different-colored PLA Plus filaments with different infill ratios in the weld area (20%, 60%, and 100%). Triangular pin geometry, different feed rates (20, 40, and 60 mm/min), and different tool rotation speeds (1250, 1750, and 2250 rpm) were used as FSW process parameters. Tensile testing was performed to determine weld strength and hardness measurements, and visual inspections were performed. Color measurements were made on the test samples before and after the welding process, and the relationship between welding performance and color was evaluated. The best welding strength was obtained as 17.83 ± 0.68 MPa at a feed rate of 20 mm/min, a tool rotation speed of 1750 rpm, and a part with a 60% infill ratio in the welding zone. In the sample with the best weld strength, the temperature was measured as 198.97 °C. Color changes in the weld area of parts with 60% and 100% infill ratios were measured between 78.9–82.2 and 79.1–84.5, respectively. It was determined that the color change decreases as the weld strength increases in these parts. The results show that with the proposed new part design, the FSW method can be used at low infill ratios, and the weld strength can be evaluated based on the color changes in the weld zone.