Insects are the most diverse but least appreciated animals, and Natural History Museums are vital for communicating their ecological importance. Entomological drawers display insect variety, but their power to engage is limited by the format of mounted specimens arranged behind glass. Advances in digitization provide opportunities to design accessible outreach drawers that increase public and educational engagement. Here, we describe the development of a digitizing-printing workflow for 3D scanned insect replicas that can be readily adopted at other museums and educational institutons. We used the open-source scAnt platform and common printing methods to create a set of specimen replicas showcasing anatomical and ecological entomodiversity. Applications of the workflow are exemplified by two outreach activities conducted at the Museo Nacional de Ciencias Naturales (MNCN-CSIC, Spain). The first, during an annual science communication event aimed at children (European Researchers' Night), used the 3D replicas and original specimens in an interactive game to teach about insect identification. The second was a painting workshop used to inform discussion by museum staff and students about insect colouration; and afterwards we surveyed participants' perceptions of 3D replicas as an educational resource. Here, we detail the workflow to provide guidance for creating 3D-replica outreach drawers. We then describe the two case studies and discuss potential benefits and applications of scanned and printed insect models. Our experiences lead us to encourage museum curators and educators to explore the opportunities provided by digital technologies to increase sensory engagement with insect collections whilst maintaining the necessary protection of sensitive specimens.