One can print with ABS which would have the typical layer lines. After the print is completed, a method known as acetone smoothing will remove those lines and create an extremely smooth surface. It's important to note that using this method will result in some dimensional changes to the item, as part of the surface is dissolved and flows into adjacent areas. I've used the hot vapor acetone smoothing method of many objects and the results are very likely what you seek. There is another product of which I have no experience. Polysmooth is similar to PLA and vaporized isopropyl alcohol is used to make the surface smooth. From the linked site, I see that one can also spray the alcohol on the object multiple times to create the smooth surface. The product is more expensive than ABS or ordinary PLA.