I've recently had some luck using an old Microsoft Kinect and their free library of scanning software:

https://www.microsoft.com/en-us/kinectforwindows/

You can get a Kinect V1 on ebay for less than $30, but you need a graphics card that fully supports DirectX 11 and a somewhat powerful machine to scan objects. Unfortunately, you can't scan small objects because the Kinect goes blind a less than a meter, but I have been able to scan people and print out recognizable busts of them. I don't know if the Kinect V2 is any better.

Cubify has a portable handheld 3D scanner that looks like it might work well, but I can't afford the $400 to try it out:

http://cubify.com/en/products/sense