kicad StepUp allows exporting kicad 3D board and comps in STEP AP214 .By easyw @ sourceforge.net:
kicad StepUp: a new approach to export kicad board and modules in STEP AP214 (with colors). With kicad StepUp, it is possible to work in kicad EDA with the same component model data available in the STEP AP214 3D format, and obtain a 3D STEP AP214 model of the pcb board and a complete board assembles with electronic modules, to be used for MCAD interchange. The accurate 3D visualization of components on board assembles in kicad 3dviewer, is maintained in the same accuracy and aspect in STEP AP214 format. The kicad StepUp script maintains the usual way to work with kicad, but improves the process to work in a collaborative way with mechanical designers bringing near ECAD and MCAD environments.
Kicad StepUp – export kicad 3D board – [Link]