Three-dimensional (3D) and porous scaffolds made from nanocellulosic materials hold significant potential in tissue engineering (TE). Here, we present a protocol for fabricating self-standing (nano)cellulose-based 3D scaffolds designed for in vitro testing of cells from skin and cartilage tissues. We describe steps for preparation of nanocellulose ink, scaffold formation using 3D printing, and freeze-drying. We then detail post-processing procedures to enhance mechanical properties, stability, and biocompatibility. This protocol offers researchers a framework for developing versatile and sustainable biomaterials for regenerative medicine. For complete details on the use and execution of this protocol, please refer to Mohan et al. and Štiglic et al..