Three-dimensional (3D) microwave imaging has been proven to be well suited for concealed weapon detection application. For the 3D image reconstruction under two-dimensional (2D) planar aperture condition, most of current imaging algorithms focus on decomposing the 3D free space Green function by exploiting the stationary phase and, consequently, the accuracy of the final imagery is obtained at a sacrifice of computational complexity due to the need of interpolation. In this paper, from an alternative viewpoint, we propose a novel interpolation-free imaging algorithm based on wavefront reconstruction theory. The algorithm is an extension of the 2D range stacking algorithm (RSA) with the advantages of low computational cost and high precision. The algorithm uses different reference signal spectrums at different range bins and then forms the target functions at desired range bin by a concise coherent summation. Several practical issues such as the propagation loss compensation, wavefront reconstruction, and aliasing mitigating are also considered. The sampling criterion and the achievable resolutions for the proposed algorithm are also derived. Finally, the proposed method is validated through extensive computer simulations and real-field experiments. The results show that accurate 3D image can be generated at a very high speed by utilizing the proposed algorithm.