The present invention provides a manufacturing method of three-dimensional cross-linked foam for uppers of shoes, comprises 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; putting the planar cross-linked foam into close contact with the last and disposing the cross-linked foam and the last in a molding die having a cavity; and compression molding the cross-linked foam, inner and outer surfaces of the molded cross-linked foam having shapes corresponding to an outer surface of the last and a surface of the cavity of the molding die, respectively.