There are several options available ranging from simple shape-from-shading approaches such as Autodesk's 123D Catch through kinect based scanners using software such as skanect all the way to professional systems. It really depends on how much money you have to spend.
You can use a conventional 3d scanner, laser or camera based scanner. The other part of the process is the post processing, you can use a free stl editor, like MeshLab or other commercial tool, like Geomagic. The question is, what do you want to do with the scanned shapes?
If you want read more, you can read my paper, this is an application example.
Conference Paper APLICACIÓN DE INGENIERÍA INVERSA PARA MANUFACTURA DE FIGURAS...