r[u_] := {3 Cos[u] + 2 Sin[u], -2 Cos[u] Sin[2 u], u};

tanv[u_] := D[r[u], u]/Sqrt[D[r[u], u].D[r[u], u]];
norv[u_] := D[tanv[u], u]/Sqrt[D[tanv[u], u].D[tanv[u], u]];
binv[u_] := Cross[tanv[u], norv[u]];
scale = 3;
tang[t_] = Graphics3D[{RGBColor[0, 1, 0], Arrow[{r[t], r[t] + scale tanv[u] /. u -> t}]}]; 
norm[t_] = Graphics3D[{RGBColor[0, 0, 1], Arrow[{r[t], r[t] + scale  norv[u] /. u -> t}]}];
binorm[t_] = Graphics3D[{RGBColor[1, 0, 0], Arrow[{r[t], r[t] + scale  binv[u] /. u -> t}]}];

Manipulate[
 Grid[{{Column[{
        Labeled[Framed[Round[tanv[u] /. u -> t, 0.01]],
        Style[ "Unit Tangent", Darker[Green], Bold], Top],
        Labeled[Framed[Round[norv[u] /. u -> t, 0.01]],
        Style[ "Unit Normal", Blue, Bold], Top],
        Labeled[Framed[Round[binv[u] /. u -> t, 0.01]],
        Style[ "Binormal", Red, Bold], Top]}, Center]}}]
  Show[ParametricPlot3D[r[t], {t, 0, 2 \[Pi] }, 
    AxesLabel -> {x, y, z}, PlotRange -> {{-5, 5}, {-5, 5}, {-4, 8}}, 
    ImageSize -> {440, 370}], tang[t], norm[t], binorm[t]], {{t, 0.2}, 0, 2 \[Pi] }]