An article of footwear may have a sole structure with a chamber, a plate, and an outsole. The chamber encloses a fluid and has an upper surface and an opposite lower surface. The plate is positioned adjacent to the upper surface and has a plurality of projections that extend into indentations in the chamber. The outsole may be positioned adjacent to the lower surface and may have a plurality of projections that extend into indentations in the chamber. In some manufacturing processes for the sole structure, the plate and outsole may be located within a mold, and the chamber may then be shaped by surfaces of the plate, outsole, and mold.