Photonic lantern (PL) spatial multiplexers show great promise for a range of applications, such as future high-capacity mode division multiplexing (MDM) optical communication networks and free-space optical communication. They enable efficient conversion between multiple single-mode (SM) sources and a multimode (MM) waveguide of the same dimension. PL multiplexers operate by facilitating adiabatic transitions between the SM arrayed space and the single MM space. However, current fabrication methods are forcing the size of these devices to multi-millimeters, making integration with micro-scale photonic systems quite challenging. The advent of 3D micro and nano printing techniques enables the fabrication of freestanding photonic structures with a high refractive index contrast (photopolymer-air). In this work we present the design, fabrication, and characterization of a 6-mode mixing, 375 µm long PL that enables the conversion between six single-mode inputs and a single six-mode waveguide. The PL was designed using a genetic algorithm based inverse design approach and fabricated directly on a 7-core fiber using a commercial two-photon polymerization-based 3D printer and a photopolymer. Although the waveguides exhibit high index contrast, low insertion loss (−2.6 dB), polarization dependent (−0.2 dB) and mode dependent loss (−4.4 dB) were measured.