A consecutive spatial frequency modulation technique using 4f imaging system and diffractive grating is proposed. Based on this technique, a three-dimensional (3D) image printing system is designed and fabricated, by which a large formate (15 cm×20 cm) and true color 3D image with wide view angle (more than 90°) is made. Characteristics of frequency modulation structure in 3D image are analysed. Mathematical expressions with parameters of frequency modulation structure are given. Principles of consecutive spatial frequency modulation are analysed and frequency modulation rules are deduced. Validity of the rules and system of spatial frequency modulation are varified by experiments. Color 3D images are outputed by laser printing system.