I dont think the Qualcomm devs endorse any specific way but I recommend creating 3D models in Blender (http://www.blender.org/), export as a .obj and then use the obj2opengl script - http://heikobehrens.net/2009/08/27/obj2opengl/ to get your models in a similar format to what is already used in the Vuforia samples.

Also try doing a search on the forum, there's a ton of info on this subject.

Rob.