This paper proposes a robot motion authoring system using finger-robot interaction. The proposed robot motion authoring tool is a user-friendly method that easily authors creates and controls robot motion according to the number of fingers. Furthermore, the system can be used to simulate user-created robot contents in the 3D virtual environment. This allows the user to not only view the authoring process in real time but also transmit the final authored contents. The effectiveness of the proposed motion authoring system was verified based on motion authoring simulation of an industrial robot.