Among calcium phosphate ceramics, β-tricalcium phosphate (β-TCP) and hydroxyapatite (HA) is widely used as a scaffold material for bone tissue engineering owing to its excellent osteoconductivity and biocompatibility. The biphasic calcium phosphate (BCP) ceramics consisted of β-TCP and HA have been extensively developed in recent years. Additive manufacturing (AM) is a manufacturing technique capable of generating layer-by-layer structures required for tissue engineering scaffolds. Therefore, the aim of this study was to design and fabricate the 3D bio-ceramic scaffolds using AM technology. The fabrication process of 3D bio-ceramic scaffolds is divided as two types of AM technologies; 1) self-developed robocasting method and 2) Extrusion molding method using a 3D printer based on fused deposition modeling (FDM). In robocasting method, the blended ceramic slurry was prepared by blending dispersant, viscosity, and cohesive agents. In this study, we fabricated the green body scaffolds using polymer deposition system (PDS) developed in our Laboratory. Z-1 axis of this system is slurry extrusion and Z-2 axis is an air heater. In extrusion molding method, the blended ceramic slurry was inserted from the developed handy force gauge-syringe extrusion (HFGSE) device using polylactic acid (PLA) molds fabricated by a FDM 3D printer. We have described methods for fabricating bio-ceramic scaffolds with defined and reproducible 3D structures via AM technologies.