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A method for fabricating tissue\u2010penetrating 3D microelectrodes directly onto planar microelectronics using high\u2010resolution 3D printing via 2\u2010photon polymerization and scalable microfabrication technologies are presented. This approach enables customizable electrode shape, height, and positioning for precise targeting of neuron populations distributed in 3D. The effectiveness of this approach is demonstrated in tackling the critical challenge of interfacing with the retina\u2014specifically, selectively targeting retinal ganglion cell (RGC) somas while avoiding the axon bundle layer. 6,600\u2010microelectrode, 35 \u00b5m pitch, tissue\u2010penetrating arrays are fabricated to obtain high\u2010fidelity, high\u2010resolution, and large\u2010scale retinal recording that reveals little axonal interference, a capability previously undemonstrated. Confocal microscopy further confirms the precise placement of the microelectrodes. 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