I agree with RPGamer, MS3D is the way to go. I was a complete noob for a while in modeling programs, & when I fist tried MS3D, I was a hater, but then I worked with it a long time, & I can make some nice models now.
Worth the $20 I speant for it, I am satisfied with it.
I wouldnt go with Anim8or, I tried to work with it for 2 months, & I got nowhere in that 2 month period, so you could say I am one of the haters for that.
If you have $3000-$4000 to burn, I would go with 3D Studio Max though, its a hight end modeling package, that can do just about anything.
Oh, & RPGamer, the link you posted for milkshape 3d wasnt the right link, it even downloaded a lot of addware to my computer just now. I will post the real link to it now...
http://www.milkshape3d.com/