Gmax, 3ds max, AC3D thats all I know about. I am sure there are more. Gmax is free and it can do a lot I think it can also do texturing that skin to a model, I can't figure out how to do that yet. AC3D is somewhere around $50 and can't do as much as Gmax so I would go with Gmax. 3ds max is what blizzard uses to make their models with the warcraft 3 art tools.
Hope this helps!