To date, biomedical application of three-dimensional (3D) printing technology remains one of the most important research topics and business targets. A wide range of approaches have been attempted using various 3D printing systems with general materials and specific biomaterials. In this review, we provide a brief overview of the biomedical applications using 3D printing techniques, such as surgical tool, medical device, prosthesis, and tissue engineering scaffold. Compared to the other applications of 3D printed products, the scaffold fabrication should be performed with careful selection of bio-functional materials. In particular, we describe how the biomaterials can be processed into 3D printed scaffold and applied to tissue engineering area.