blender

Personally I prefer obj, so I wrote a obj importer for my little engine.
In the near future I plan to write my own format, so that the file only contain the data that I need.

Yeah obj is a nice and easy text format. It contains text coords, cant remember if it contains normals though...?

The obj file format supports vertex normals. However not all exporters support the full obj file-format. I know anim8or exports vertex normals, poser 3 apperently does too, donät know if blender does...
obj file format reference, perhaps a better can be found throguh wotsit...

You can create your own format and create a python script to export it from Blender, it's not particularly difficult. There's also quite a few export scripts already available you may find one that exports to a format that has what you require.

there is a collada exporter for blender i believe