It’s called 3D Ripper DX. You’ll need a 3D modeling tool to use it, however. It asks if you want to install the plugin for 3DS Max when you install 3D Ripper DX, so that’s the preferred program. When you have the ripper open, though, you can check a box to save in .OBJ format that should work in literally any 3D modeling program.
It’s pretty easy to use. You just load the .exe for the game, launch it, find what you want to rip, press F12 (that’s the default rip button) and exit or make more rips then find the .3DR files or .OBJ files in My Documents/3D Ripper DX/Frames.
It worked in Hitman: BM for me, and it should work in SH4 and K&L.