A novel modelling technique to design microwave 3D-printable filters based on arbitrarily height-modulated substrate integrated waveguides (SIW) is presented in this paper. In the literature, different topologies have been already employed to design filters based on SIW. Nevertheless, none of these solutions have analyzed the behavior of the modulation of the height of the filters. This is due to the difficulty of manufacturing the prototypes with conventional procedures. In this paper, the techniques to design and manufacture these filters, provided with microstrip transitions for their validation, are presented.