It depends a bit on timing, there is a bus at 16:10, and then only at 17:20 from the international terminal. The alternative is to go to one of the domestic terminals where the busses depart far more frewin that period.

Or you could take the keikyu line to Shinagawa and take the Narita Express, which departs every 30 minutes.

3.5 hours is a bit tight, you don't leave much room for a delay. Immigration, waiting for the next departure, and transport time will be an absolute minimum of 2 hours. There is no F fast track immigration in Haneda.