I found the solution to my own problem.
Just putting the answer out there so that someone struggling with the same error message find a solution.
Step #1:
Structure> Work Plane> Set (Work Plane) > Specific a new Work Plane > Select "Name" > then choose a level (I chose 'Top of Plate' level for my model)
Step #2:
Structure > Beam> Make sure '3d snapping' is checked off
It should work after doing the steps above.