In 1647-48 he created with his brother the stucco figures of Clemenza and Contemplazione on the pendentives of the second arch to the right of the central nave of St. Peter's Basilica and collaborated on the ornamentation of the pillars.
In 1664–65 Fancelli provided the elaborate white and gilt stucco work framing Cortona's nave vault fresco of the 'Miracle of the Madonna della Vallicella'.
[3] The bronze altarpiece of the "Deposition", for the Chigi Chapel at Santa Maria della Pace, was modeled by Fancelli from a drawing by Cortona, and cast by Artusi.
[3] Cortona and Fancelli worked together on the decoration at Santi Luca e Martina (c. 1649), Santa Maria della Pace (1656), San Carlo al Corso (after 1665), and the vault of the Chiesa Nuova (1662–65).
[4] In 1668 Cortona designed the ceiling fresco work for the Gavotti chapel in San Nicola da Tolentino agli Orti Sallustiani.
Fancelli is described as of delicate build, not very tall, of straight black hair, fair complexion, "...of good grace, and attractive in appearance, and very honest..." He was a member of the Accademia di San Luca.