In this paper, we propose a method to construct three-dimensional curved microstructures with easy control of the size, position and shape, by exploiting the elasticity of poly(dimethylsiloxane) (PDMS) membranes and basic physics. For this end, we developed the method to handle thin PDMS membrane safely, and to replicate PDMS microstructure from the PDMS mold. Using this method, we demonstrated two potential applications: (1) the use of concave well for the formation of embryoid body (EB) to differentiate into neuronal cells, and (2) the fabrication of SU-8 and hydrogel microparticles having diverse curved shapes. The curved structures were successfully fabricated with simple process, and EBs were formed in the concave well and differentiated into the neuronal cells. Microparticles with diverse shapes were fabricated from a range of materials for potential use as drug carrier and pH responsive micro-actuator elements.