Tutorials on exporting content to Virtools are located in the Virtools Online Reference in the chapter
Importing Media into Virtools
Examples for a simple scene and character are shown for Maya, 3DS Max, and Lightwave

Virtools also supports loading DirectX (.x) and VRML (.wrl) formats, if you are using different modeling software.

The tutorials for Maya are available here as PDF files:
Simple Scene Tutorial.pdf
Character Animation Tutorial.pdf

The scene files referenced by the tutorials are available in the class workspace directory.