Presuming you're after 2.5D rather than 3D.
Alibre does it as a series of parallel cuts, moving the tool vertically as it goes. Good for making pretties but I prefer something that will follow an edge.
Gsimple is free and, well, simple. Not without vices and insists on cutting outlines uphill, inlines downhill. Does excess removal but assumes a rectangular block.
CamBam has a steeeper learning curve and insists on you redefining the tool for every single blooming cut, lots of potential for error if you want to change your mind on the tool size. Cuts uphill/downhill as you like but I haven't managed to figure out excess material removal yet.
BobCAD seems popular but the learning curve is alarming. So is the price, but if you download the demo a salesman will call some time later and offer you a amazing deal.
There are a lot of them out there but they never quite seem to do everything I want

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