Exporting the models to either .FBX or .OBJ will work fine. Those two are the most universal formats. If they have materials, shaders, and/or textures applied, I think they might be saved out, too, as .MTL. Might have to do a little finagling to get the materials in (no experience with that, sorry). There should be animation courses here under the Blender section, give me a sec and I can find them for you.
