Three-dimensional (3D) printing can revolutionize the way products have been designed and manufactured. This necessitates engineering graduates equipped with the knowledge and skills of 3D printing. As a result, the educational aspects of 3D printing have earned a great deal of attention. Nevertheless, to teach 3D printing in an undergraduate engineering degree program, an outcomes-oriented approach integrating engineering design, object visualization/digitization, and 3D printing domains can be used. Accordingly, this study presents a tutorial development method to teach undergraduate engineering students the knowledge and skills of 3D printing. The method integrates the abovementioned domains maintaining a hierarchy among the seven ABET-prescribed outcomes. The hierarchy organizes the outcomes into three levels (primary, secondary, and tertiary). The presented method is implemented by introducing a tutorial where a spur gear-pinion pair is designed, visualized, digitized, and 3D printed systematically. E-learning tools can be developed to deliver the tutorial online.