An apparatus including a three-dimensional (3D) drawing pen can permit a user to draw in free space to form a 3D object. The 3D drawing pen can include a housing, an actuator, and a nozzle assembly. The housing is configured to receive material therein and fit in a user's hand. The actuator is coupled to the housing and is configured to control a movement of the material. The nozzle assembly is configured to permit the material to be extruded to permit the user to form the three-dimensional object.