Magnetic Resonance Fingerprinting (MRF) has been introduced to simultaneously estimate multiple quantitative parameters but mainly applied to static organs. Recently the feasibility of 2D triggered cardiac MRF (cMRF) under breath-hold has been demonstrated and provides single slice simultaneous T1 and T2 maps. However, 2D cMRF provides insufficient coverage of the heart. Here we sought to develop a free-breathing 3D triggered cMRF sequence. Respiratory bellows drive an autofocus algorithm that is used to perform translation correction of respiratory motion followed by a low rank MRF reconstruction. The proposed 3D cMRF approach was evaluated in three healthy subjects, demonstrating considerable improvements in parametric maps when compared to no motion correction.