This youtube channel gives a step-by-step tutorial on how to make a simple 3d scanner with 3d printed parts and IR sensors. It outputs the scan data on a SD card which you can then turn into 3d model using MATLAB. The results are somewhat rough and you will need one custom electronic board but it is a nice learning projects.
Here is the tutorial video:
STL files can be found here:
Full code and board design can be found in video description.