The theft in June at the Burton Foods factory in Cwmbran, South Wales, saw the thieves allegedly making off with the biscuits in a trailer. Police said it was later found empty on the M62 in Warrington, Cheshire.
Details of which biscuits were stolen have not been revealed.
The three will appear at Newport Magistrates' Court on 29 September, Gwent Police confirmed.
A police spokesman said: “A 27-year-old man from the Cheshire area has been charged with three counts of theft, handling stolen goods and driving without insurance. A 36-year-old man from the Liverpool area has been charged with two counts of theft, handling stolen goods and taking and driving away. And a 35-year-old man from the Liverpool area has been charged with two counts of theft.”