ObjToSchematic is a mod that lets you import 3D models into your world and turn them into blocks. It has a super simple GUI to tweak the generated build exactly how you want it.
Tutorial at: <iframe width="560" height="315" src="https://www.youtube-nocookie.com/embed/fKgi80qbUEM" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
There's also a web-based editor you can use instead that lets you save to formats like .litematic/.schematic/etc. Visit https://objtoschematic.com.