There’s a way/utility/framework/etc to do that?
Oh, there are many things to allow this. Ogre3D, Irrilicht, Crystal Space, pretty much any 3D engine has a Blender plugin or a Collada plugin that allows use of Blender stuff.
However, if you’re looking for something smaller, you should be looking for a .obj or .X file loader. Blender can (I assume) export these, and they’re fairly common among demo makers/learning programmers. There’s bound to be some source code somewhere for loading them.