The study of the 3D nucleon structure by probing the transverse momentum dependent (TMD) distributions of partons in Semi-Inclusive DIS is widely accepted as one of the main goals of the future Electron Ion Collider (EIC). Much wider kinematical coverage, and in particular higher $P_T$ and $Q^2$, would allow validating and extending studies of evolution properties of TMDs planned at JLab12, and access the sea and gluon distributions. The EIC would allow much better separation of current fragmentation and target fragmentation regions than JLab12, and due to high polarization of electrons and protons is a natural choice for measurements of different spin dependent observables in a full range of accessible kinematics. EIC provides also a unique possibility for detection of hadrons produced in the target fragmentation region, providing a new avenue for studies of the non-perturbative structure of the nucleon in correlations of hadrons produced in DIS regime. In this talk, we present an overview of the current status and some future measurements of the orbital structure of nucleons and nuclei at JLab and EIC.