Topological techniques are powerful tools for characterizing the complexity of many dynamical systems, including the commonly studied area-preserving maps of the plane. However, the extension of many topological techniques to higher dimensions is filled with roadblocks preventing their application. This article shows how to extend the homotopic lobe dynamics (HLD) technique, previously developed for two-dimensional (2D) maps, to volume-preserving maps of a 3D phase space. Such maps are physically relevant to particle transport by incompressible fluid flows or by magnetic field lines. Specifically, this manuscript shows how to utilize 2D stable and unstable invariant manifolds, intersecting in a heteroclinic tangle, to construct a symbolic representation of the topological dynamics of the map. This symbolic representation can be used to classify system trajectories and to compute topological entropy. We illustrate the salient ideas through a series of examples with increasing complexity. These examples highlight new features of the HLD technique in three dimensions. Ultimately, in the final example, our technique detects a difference between the 2D stretching rate of surfaces and the 1D stretching rate of curves, illustrating the truly 3D nature of our approach.