We present design and manufacture of a 3D printed varifocal freeform optics. The optical refraction power can be tuned continuously by mutual rotation of two helically shaped lens bodies of azimuthally varying curvatures. Since no additional space for axial or lateral lens movement is required, rotation optics allow for a highly compact design of varifocal optics. Manufacturing of the optics was conducted by means of a high-resolution additive manufacturing process. Results of tactile surface measurements are presented as well as imaging through the lens.