Access to prosthetics is very limited to many potential users, while the need is high. There are two main reasons for this that both are related to the production of prosthetics: the lack of skilled people and high costs. Minimized assembly production using 3D printing could be a solution: no training is required, assembly takes only a short amount of time and cheap materials can be used. Besides, 3D printing is a good method for customization. Therefore, this study proposes a 3D-printed finger for a bodypowered hand prosthesis with minimized assembly. The design approach is the following. First, the human finger anatomy is studied. Then, a stylized version of the human finger is made that includes only the functions required for the prosthesis. Finally, the design principles of the stylized finger are evaluated and structurized. Based on the design principles, a finger for a prosthetic hand is designed and a prototype is developed. The prototype is produced with an Ultimaker 3 using a rigid and a flexible material in one print. The evaluation of the prototype shows promising results. The finger is suitable for a hand prosthesis that can perform an adaptive power grip and a pinch grip. The mass of the finger is 17 grams, which makes the finger comfortable to wear. An actuation force of only 16 N is required to fully bend the finger. Minimized assembly and cheap production are achieved: only four assembly steps are required and the material costs are only 1.68 euros per finger. In conclusion, the prototype shows a promising step in the direction of a hand prosthesis that is affordable, functional, body-powered, and has minimized assembly