I've seen all three. I love Frozen because the songs are flawless, but don't really care much about the story. My second favorite is Zootopia, and my third fave is Inside Out.
All three are amazing though, and are some of the best movies ever made.
Frozen will be the most remembered princess of this time, and you will deal.
The design of characters in Frozen is better, the plot is gold in inside out but the design is ugly af, and Zootopia has cute characters and good plot but is like a fast food type movie you forget everything about it in a day or two