We present an approach to increase the effective light-receiving area of superconducting nanowire single-photon detectors (SNSPD) by means of free-form microlenses that are printed in situ on top of the sensitive detector area using high-resolution multi-photon lithography. We demonstrate a detector based on a niobium-nitride (NbN) nanowire with a 4.5 $mathrm mu$m $times$ 4.5 $mathrm mu$m sensitive area, supplemented with a lens of 60 $mathrm mu$m diameter. For free-space illumination at a wavelength of 1550 nm, the lensed sensor has a 100-fold-increased effective collection area, which leads to strongly enhanced system detection efficiency without the need for long nanowires. Our approach can be readily applied to a wide range of sensor types and effectively overcomes the inherent design conflict between high counting speed due to short sensor reset time, high timing accuracy, and high fabrication yield on the one hand and high collection efficiency through large effective detection areas on the other hand.
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