Nowadays, the use of 3D cultures (organoids) is considered a valuable experimental tool to model physiological and pathological conditions of organs and tissues. Organoids, retaining cellular heterogeneity with the presence of stem, progenitor, and differentiated cells, allow the faithful in vitro reproduction of structures resembling the original tissue. In this context, the growth of endometrial organoids allows the generation of 3D cultures characterized by a hollow lumen, secretory activity, and apicobasal polarity and displaying phenotypical modification in response to hormone stimulation. However, a limitation in currently used models is the absence of stromal cells in their structure; as a result, they miss epithelial–stromal interactions, which are crucial in endometrial physiology. We developed a novel 3D model to generate endometrial organoids grown in floating MatrigelTM droplets in the presence of standard culture medium. From a structural point of view, these novel floating 3D cultures develop as gland-like structures constituted by epithelial cells organized around a central lumen and retain the expression of endometrial and decidual genes, like previously published organoids, although with a phenotype resembling hormonally differentiated structures. Importantly, floating organoids retain stromal cells which grow in close contact with the epithelial cells, localized within the internal or external portion of the organoid structure. In summary, we present a simple and rapid model for generating 3D endometrial organoids that preserve epithelial–stromal cell interactions, promoting the formation of differentiated organoids and enabling the study of reciprocal modulation between epithelium and stroma.