The office of Wayne County Prosecutor Kym Worthy says 20-year-old Detroit residents Montoya Givens and Christopher Moorehead and 18-year-old Brian K. Young of Macomb County's Clinton Township are charged with carjacking, unarmed robbery and conspiracy.
The charges carry up to life in prison.
The prosecutor's office says the three are expected to be arraigned Sunday.
Winans was attacked Wednesday afternoon while pumping gas at a Detroit gas station.
The 54-year-old sustained bruises and scrapes. His wallet, Rolex watch and 2012 Infiniti sport utility vehicle were taken. The SUV was recovered.
Winans is pastor of Perfecting Church. He delivered singer Whitney Houston's eulogy in February.