Human embryonic stem (hES) cells hold promise as an unlimited source of cells for transplantation therapies. The present invention is a method for the control of hES cell proliferation and differentiation into complex, viable 3D tissue constructs. The invention describes the use of biodegradable polymer scaffolds for promoting hES cell growth and differentiation, and for the formation of 3D structures. This approach provides a unique culture system for addressing questions in cell and developmental biology, and provides a potential mechanism for creating viable human tissue structures for therapeutic applications.