The easiest way to do it is to use a 3D scanner, like the Sense. That will capture the form and colors, and solidify them into something that will print. Then you send it to a color-capable 3D printer, and it does the rest. If you don't have one, you can send it to Shapeways, Sculpteo, or any service bureau with an appropriate machine. (Shapeways calls the material "sandstone", but it's not).

If you don't want to spend any money, then try an app called 123D Catch, from Autodesk. With a lot of photos taken from many angles, it can approximate the results of a scanner. If you've got a printer that only prints in one color, then sure, paint it if you want, or leave it monochrome.

Andrew Werby
www.computersculpture.com