Despite the tremendous technical advancements in 3D bioprinting, the concept of fabricating 3D structures and functional tissues directly in live animals remains a visionary challenge. We show that 3D cell-laden hydrogels can be efficiently bioprinted across tissues and within tissues of living animals.We developed photo-sensitive polymers that allow in vitro and in vivo fabrication of hydrogels into pre-existing structures, by bio-orthogonal two-photon cycloaddition and crosslinking at wavelengths longer than 850 nm, without byproducts. By this technique, that we name intravital 3D bioprinting, after injection of these polymers in vivo it is possible to fabricate complex 3D structures inside tissues of living mice, including the dermis across epidermis, the skeletal muscle across epimysium or the brain across meninges. The use of commonly available multi-photon microscopes allows accurate (XYZ) positioning and orientation of bioprinted structures into specific anatomical sites. Finally, we show that intravital 3D bioprinting of donor muscle-derived stem cells allows de novo formation of myofibers in host animals. We envision that this strategy will offer an alternative in vivo approach to conventional bioprinting technology, holding great promises to substantially change the paradigm of 3D bioprinting for pre-clinical and clinical use.