2D cardiac Magnetic Resonance Fingerprinting (cMRF) has been proposed for simultaneous and co-registered T1/T2 mapping using ECG-triggering and breath-holding. However, 2D cMRF provides limited coverage of the heart and is sensitive to residual through-plane respiratory motion. Here we propose respiratory motion-compensated 3D cMRF to enable whole-heart myocardial T1/T2 mapping in a single free-breathing scan. Respiratory bellows driven localized autofocus is proposed for beat-to-beat translational motion correction and patch-based low rank MRF reconstruction is employed to minimise residual aliasing. 3D cMRF enabled whole-heart T1/T2 mapping in ~7min scan time with comparable map quality to conventional 2D MOLLI, SASHA and T2-GraSE.