Just add if i+j-k == 3. You do not want A[i], etc., since it indexes each list, whereas i, jand kare already the elements themselves.
D = [[i,j,k] for i in A for j in B for k in C if i+j-k == 3]
itertools.product, :
import itertools
D = [[i,j,k] for i,j,k in itertools.product(A, B, C) if i+j-k == 3]