A 3D printing method for manufacturing a 3D tubular object includes creating successive layers of polymerized resin. Each layer is created by providing, on an external surface of a build platform, a fluid resin which is polymerizable by electromagnetic radiation. A beam of electromagnetic radiation suitable for polymerizing the fluid resin is positioned, according to a printing model, towards the external surface of the build platform, creating the layer of polymerized resin. The build platform includes a stem having a longitudinal axis, and forming a tubular shaped surface around the longitudinal axis, so that the external surface of the build platform is included in the tubular shaped surface. The beam is variably positioned according to the printing model to impinge on different points of the fluid resin. The 3D tubular object is obtained by removing from the stem a 3D object formed by the successive layers of polymerized resin.