The treatment of infectious bone defects is a major challenge in orthopedics, with infection control and defect repair as the two primary treatment goals. The development of 3D-printed bone scaffolds capable of sustained and stable antibiotic release is an effective strategy for treating such defects. Specifically, the antibiotic loading method and the concentration of released antibiotics significantly affect infection control and bone repair outcomes. In this study, double antibiotic microspheres were prepared via the double emulsion-solvent evaporation method. Moxifloxacin and rifampicin (RM) were encapsulated by poly(lactic-co-glycolic acid) (PLGA), forming RM–PLGA. Subsequently, different concentrations of RM–PLGA and basic fibroblast growth factor (bFGF) were loaded onto a 3D-printed triply periodic minimal surface (TPMS) titanium scaffold (TiS) with a graded porosity design, enabling stable dual-controlled antibiotic release and enhanced release stability. In vitro results revealed that RM–PLGA/bFGFgelatin methacrylate [GelMA])@TiS exhibited strong antimicrobial properties, cytocompatibility, and the capacity for osteoblast differentiation and extracellular mineralization. In vivo, RM–PLGA/bFGF(GelMA)@ TiS was effective in inhibiting infections induced by Staphylococcus aureus while promoting osteogenesis and angiogenesis. These results suggest that RM–PLGA-2/ bFGF(GelMA)@TiS can stably release antibiotics to achieve the therapeutic goals of infection control and induction of both osteogenesis and angiogenesis.