Polarized neutron scattering has been widely used for studying magnetic orders in condensed matter. A typical setup for this technique is a triple-axis spectrometer with a ferromagnetic single-crystal monochromator and analyzer, which is suited for point-by-point measurements within the horizontal scattering plane. However, this setup cannot fully meet the demands of recent studies on complex magnetic orders with emergent cross-correlated phenomena. For instance, multiferroics, magnetic skyrmions, and other topologically nontrivial magnetic orders tend to have incommensurate magnetic modulation vectors running along various directions in reciprocal space, which cannot be captured by measurements restricted to the horizontal scattering plane. To overcome these limitations, we have developed an experimental setup combining a ³He neutron spin filter (³He-NSF) and a two-dimensional (2D) detector, which enables us to analyze the polarization of neutrons scattered away from the horizontal plane. We also establish a data reduction procedure to convert the 2D intensity maps into three-dimensional intensity distributions in reciprocal space, correcting for the effect of imperfect ³He polarization. This method is applied to single-crystal diffraction measurements on the multiferroic material Mn₃WO₆, which exhibits complex incommensurate magnetic orders. We have successfully observed polarization-dependent intensities of out-of-plane incommensurate magnetic reflections, demonstrating the effectiveness of the present method for analyzing complex magnetic structures.