Although self-assembly (SA) in two dimensions (2D) is highly developed (especially using surfaces as a templates), SA in three dimensions (3D) has been more difficult. This paper describes a strategy for SA in 3D of diamagnetic plastic objects (mm- to cm-sized in this work, but in principle in sizes from 10 μm to m) supported in a paramagnetic fluid by a non-uniform magnetic field. The magnetic field and its gradient levitate the objects, template their self-assembly, and influence the shape of the assembled cluster. The structure of the 3D assembling objects can be further directed using hard mechanical templates—either the walls of the container or co-levitating components—which coincide spatially with the soft template of the magnetic field gradient. Mechanical agitation anneals the levitating clusters; the addition of photocurable adhesive, followed by UV illumination, can permanently fuse components together.