Mine are 5 and 7 and still don't like putting stuff away. At 3 we made it the tidy-up game, putting things in the right place, making it a quiz as to where things should go, me putting things in the wrong place deliberately etc. Lots of fuss and praise when they do it right or quickly, and ultimately the naughty step if they messed about too much. We always insisted on a quick tidy before dinner and everything has to be put away before they finally go to bed, so now it is an established routine.
Now they're a bit older most of the time they will tidy when asked to, but if not then "Drill Sgt Daddy" is currently proving effective. Now I'm not talking Gunnery Sergeant Hartman here. It generally goes one of two ways:
There's the telling them they have 5 or 10 minutes to do it themselves followed by "inspection" with anything left out pointed out so they've got a chance to quickly grab it before I can put it in the oops box.
Or a firmer approach of what can at times be a near constant stream of simple instructions but delivered with a firm clear "Daddy not happy" voice to child 1 put xxx away, child 2 put yyy away etc - but always with a please and thank-you. This means they don't get a chance to get distracted and know that trouble is not far away if they continue to push their luck. And if they're doing it well a bit of silliness tends to creep in to the act to lighten the mood 'cos at the end of the day they're good kids really.
And then the reward at the end of dinner, cartoon, bed-time story or getting out one of the bigger toys now they've cleared some space to play in.