Anthony Grainger, 35, from Bolton, died of a single gunshot wound to the chest after the car he was in was stopped in the village of Culcheth, Cheshire, on Saturday evening in what police described as a "pre-planned operation".
David Totton, 33, of Rochdale Road, Manchester; Joseph Travers, 27, of no fixed address; and Robert Rimmer, 26, of Ainsbrook Avenue, New Moston, Manchester, have been charged with conspiracy to commit robbery between January 24, 2012 and March 3, 2012, Greater Manchester Police (GMP) said. All three are set to appear before Manchester Magistrates Court.
A spokesman said the men were charged as part of an investigation relating to conspiracy to commit robberies - two were arrested in Culcheth on Saturday night and a third was arrested in Manchester on Sunday.
Tributes were left on Facebook, with one saying: "I love you Anthony, you are the one who will be in my heart forever , my fella, my best friend , my soul mate."
The message ended: "Hope you sleep well xxxx all my love Gail x"
The shooting, which happened in a car park in Jackson Avenue, sparked panic among residents, with villagers caught up in the stand-off and shepherded to safety comparing scenes to "something off a film".
Jessica Brown, 15, was with friends in the Village Pizza takeaway in Common Lane when they were advised to "stand back against the wall" so they were not hurt.
GMP Deputy Chief Constable Ian Hopkins said: "The officers involved performed first aid on the victim at the scene but he sadly died. Two other men who were inside the car were arrested and will be questioned later today."
Mr Hopkins said specially-trained family liaison officers were in contact with the man's family, and said GMP, Cheshire Police and the IPCC would carry out a thorough investigation to establish all the facts.