A new set of small and mid sized planetary body shape models have been published in a format that can be used directly in 3D printers. The files are in .obj format. The catalog contains 21 asteroids, 5 comets and 21 planetary satellites. The latter mostly includes irregular bodies, but the famous Mimas is also included. If you just want to play with the models, https://3dviewer.net/ is a good online tool for viewing and rotating the shape models. The file size (and resolution) of the shape models vary from few 100s kbytes to more than 100 Mbytes.
For professional planetary cartographers and geologists the Johns Hopkins University Applied Physics Laboratory developed a new mapping tool where irregular bodies can be easily mapped.
Image: Shape model of Bennu is being printed at the EPSC-DPS meeting in Geneva
A variety of shapes and sizes
Churyumov-Gerasimenko in your hand