Bioinks with rapid solidification properties and excellent biological performance are usually needed for the bioprinting of three-dimensional (3D) cell-laden constructs. However, it remains challenging to find a suitable hydrogel which can balance processability and biological functionality. Due to its varied material properties and ability to encapsulate cells, photo-crosslinkable hydrogel (GelMA) has a great potential as the target material. As such, lithography-based 3D printing approach is attractive, because it can minimize the bioprinting requirements for the bioink and facilitate the fabrication of complex GelMA constructs to better mimic the architecture of biological tissues. Herein, we set up a visible light photo-initiating stereolithography system to fabricate complex gelatin methacryloyl (GelMA) constructs with tunable 3D microenvironments achieved by tuning material and process parameters. Biofunctionalization of the GelMA allowed long term survival of encapsulated cells, and enabled attachment and spreading of endothelial cells seeded on the printed constructs. Complex cell-laden constructs were successfully bioprinted, where the encapsulated cells remained viable, homogenously distributed and functional. Overall, the stereolithography-based 3D bioprinting approach is a promising technology for biofabrication and provides broad opportunities for bioprinting of complex, free-form 3D GelMA constructs with cell-favorable microenvironments for applications in tissue engineering.