Head-mounted augmented reality (AR) enables embodied in situ drawing in three dimensions (3D).We explore 3D drawing interactions based on uninstrumented, unencumbered (bare) hands that preserve the user’s ability to freely navigate and interact with the physical environment. We derive three alternative interaction techniques supporting bare-handed drawing in AR from the literature and by analysing several envisaged use cases. The three interaction techniques are evaluated in a controlled user study examining three distinct drawing tasks: planar drawing, path description, and 3D object reconstruction. The results indicate that continuous freehand drawing supports faster line creation than the control point-based alternatives, although with reduced accuracy. User preferences for the different techniques are mixed and vary considerably between the different tasks, highlighting the value of diverse and flexible interactions. The combined effectiveness of these three drawing techniques is illustrated in an example application of 3D AR drawing.