The present invention provides a manufacturing method of three-dimensional cross-linked foam for uppers of shoes, comprising: preparing a plurality of foaming materials in a planar or three-dimensional shape with a cross-linked foaming suppressed; forming at least one interfacing pattern on at least one foaming material to prevent physical and chemical interactions between the foaming materials, the interfacing pattern formed of at least one interfacing material; cross-linked foaming of the foaming material having the interfacing pattern thereon to obtain a cross-linked foam in a planar shape, the cross-linked foam having at least one inner cavity structure therein; and vacuum molding the planar cross-linked foam in a vacuum molding die to obtain a cross-linked foam having a shape corresponding to a last, the planar cross-linked foam disposed in a cavity of the vacuum molding die, the cavity having a shape corresponding to the last.