Any will do it really, the "great graphics resource' thread at the top of this board has links and discussion, but among the common/popular ones are
3ds max / Maya - professional grade but expensive. Offers free but restricted student licensing I believe if you have a student email.
Blender - powerful, open source & free, but some find it difficult to learn / get started
Wings3d - fully capable without some of the extras, but easier to learn and is cheap
Milkshape - similar to wings
There are more in the resource thread