Lines
When working in a 3D sketch, you can sketch lines to the approximate length, and then dimension them.
You can add a length dimension by selecting two points, a line, or two parallel lines.
You can add an angular dimension by selecting either three points or two lines.
Video: 3D Dimensions
Arcs
You can sketch, add relations, and dimension arcs in 3D space.
Dimensions can exist between different arcs such as a circle and a 3 point arc on the same or different 3D sketch planes.

Planes
You can add angular dimensions between 3D sketch planes.