A vector-rotating design strategy is developed in this chapter to address the challenging problem of 3D spatial-temporal cooperative guidance. First, a 3D vector IACG law with explicit time-to-go estimation is developed by extending the optimal IACG law into the 3D space. Under the constant flight speed assumption, the 3D vector spatial-temporal cooperative guidance law is designed by geometric operations of vectors. Furthermore, the proposed guidance law is extended to practical scenarios with varying flight speeds. Finally, several numerical simulations are performed to demonstrate the effectiveness and advantages.