Here is a Universal Joint for your printing pleasure. When printing scale the pin file down a bit to make it fit easier and allow for movement. The assembly is not print ready so only print the parts if you want to assemble it. I have included the inventor files for your use. I have added new threaded STL files for the Fork and Studs.
If you choose to print this I would reduce the scale of the pin prior to printing so it fits well enough to allow for movement.