On the 3D Sketch tab, Draw panel, click the down arrow below the Arc command, then click the command for the arc type.
Creates an arc defined by two endpoints and a point on the arc. The first click sets the first endpoint, the second sets the other endpoint (chord length), and the third point sets the arc direction and radius.
Creates an arc defined by its center point and two endpoints. The first click sets the center point, the second specifies the radius and start point, and the third point completes the arc.