I have a pretty complex & technical tip and I hope there is an easier way. You can build some 3D models in Blender or import them in from some other easier tool.

One nice feature of Blender tho is that it has a model unwrap feature so that you get a 2D flat representation of the 3D model which you use for texturing. If however, you take that and grab it as a screen shot or export it somehow then you can use that as a template to cut out of card.

So color and texture the image keeping the outlines intact, print it, cut it out and fold it back along the polygon edges to get your 3D model. Getting the shape in 2D is probably the hardest part. Building a model is not too hard and texturing it is as hard as you are artistic.

If your looking for a virtual 3D environment then at least you dont need to unwrap the model any more. If your looking for a 2D battle mat that looks 3D then there are plenty more options.