Transparent, bubble-free glass structures can be printed using a filament-fed, laser-heated additive manufacturing process. In this process, a stationary CO2 laser beam is focused at the intersection of the filament and workpiece to locally heat the glass above its working temperature. Glass enters the molten region and is deposited on the workpiece as the workpiece is translated/rotated using a 4-axis stage. This paper studies creating free-form, free-standing objects which is facilitated by the glass rapidly achieving structural rigidity as it cools upon exiting the molten region. The effects of the process parameters and printing techniques are examined and optimized to print simple wall and truss structures.