We investigate an experimental method for imprinting Skyrmion spin textures in a spinor Bose-Einstein condensate by rapidly moving the zero-field center of a three-dimensional (3D) quadrupole magnetic field through the condensate. Various excitations such as 2D Skyrmions and coreless vortices were created in spin-1 sodium condensates, initially prepared in a uniform polar or ferromagnetic phase. The spin textures were characterized with the spatial distribution of the spin tilt angle, which is found to be in good quantitative agreement with the local description of single spins under the field rotation. We demonstrate the creation of a highly charged Skyrmion in a trapped condensate by applying the imprinting process multiple times.