We present the results on fabrication of 3D fiber Bragg grating (FBG) arrays in specialty 7-core optical fibers with straight or twisted (spun) cores. Femtosecond laser inscription technology allowed us to modify the fibers through the acrylate or polyimide protective coatings that significantly increases the durability of the FBG sensors as compared to conventional UV inscription approach, requiring the coating removal. Custom-made 7-core fiber with polyimide coating opens up new prospects for shape sensors operating in high-Temperature environment. Twisted-core fiber makes it possible to measure not only the shape, but also the direction of fiber torsion that is essential for a free-standing sensors. A novel method enabling core-selective FBGs inscription in a 7-core spun optical fiber is presented in this work. By using the created sensors bending radii down to several millimeters can be measured with a high precision. Separation of different core FBGs by wavelength makes it possible to combine several cores during their interrogation, which allows for sensor measurements through a single optical port.