Three-dimensional (3-D) scaffolds require an interconnected structure with controllable and reproducible porosity to guide cell growth and tissue regeneration for tissue engineering and regenerative medicine. In this study, a cell-plotting system was developed using a solid freeform fabrication (SFF) technique and fabricated hydrogel scaffolds with an interconnected pore structure using various hydrogels such as agarose, Pluronic® F127, and alginate. The plotting process was characterized using discharge data and the thicknesses of the hydrogel lines. Alginate was plotted under a range of pressures, with optimal plotting at 120 and 220 kPa for 2% and 4% alginate, respectively. The 4% alginate hydrogel was more stable in the plotting process than the 2% alginate. Cells seeded in the hydrogel showed good cell viability in a preliminary in vitro test. 3-D hydrogel scaffolds were produced successfully for soft tissue engineering applications.