Three-dimensional (3D) nonlinear photonic crystals have received intensive interest as an ideal platform to study nonlinear wave interactions and explore their applications. Periodic fork-shaped gratings are extremely important in this context because they are capable of generating second-harmonic vortex beams from a fundamental Gaussian wave, which has versatile applications in optical trapping and materials engineering. However, previous studies mainly focused on the normal incidence of the fundamental Gaussian beam, resulting in symmetric emissions of the second-harmonic vortices. Here we present an experimental study on second-harmonic vortex generation in periodic fork-shaped gratings at oblique incidence, in comparison with the case of normal incidence. More quasi-phase-matching resonant wavelengths have been observed at oblique incidence, and the second-harmonic emissions become asymmetric against the incident beam. These results agree well with theoretic explanations. The oblique incidence of the fundamental wave is also used for the generation of second-harmonic Bessel beams with uniform azimuthal intensity distributions. Our study is important for a deeper understanding of nonlinear interactions in a 3D periodic medium. It also paves the way toward achieving high-quality structured beams at new frequencies, which is important for manipulation of the orbital angular momentum of light.