We present a scheme for generating shape-dependent, specific bonds between millimeter scale particles, using acoustic levitation. We levitate particles in an ultrasonic standing wave, allowing for substrate-free assembly. Secondary scattering generates shape-dependent attractive forces between particles, while driving the acoustic trap above its resonance frequency produces active fluctuations that mimic an effective temperature. We three-dimensionally (3D) print planar particles, and show that the local curvature of their binding sites controls the selectivity for attaching a matching particle. We find that the probability of a particle occupying a binding site and the time taken to leave the binding site can be independently tuned via the binding site depth and height, respectively. Finally, we show that these principles can be used to design particles that assemble into complex structures.