We demonstrate a 3D MR fingerprinting sequence for quantitative abdominal imaging. The sequence was made robust to motion by modifying the order of acquisition to allow for free-breathing imaging. Furthermore, the flip angle pattern was optimized using the Cramér-Rao Lower Bound to increase the efficiency of the sequence. A phantom was used to validate the new sequence and it was shown that the motion-robust ordering reduced motion-related artefacts. In vivo results showed reduced artefacts as well. We conclude that it is possible to generate B1-robust quantitative T1 and proton density maps at a clinically usable resolution within 5 minutes.