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Not sure what mean with existing 3D paper model. Do you mean to create instructions from a 3D mesh file or from a built physical paper model?
With a physical model you would need to take pictures with each step you want to illustrate and then somehow recreate that in the computer (like Petr said with tracing for example). But if you have the steps in pictures, I would just take these.
If you have a 3D mesh you will need skills to take the finished geometry apart in your 3D app and then position the parts for each build step and render them.
If you can draw nice you could just make sketches for each step and take pics of that.
I am afraid it involves quite some work. For this reason I am doing all my instructions with pictures of the physical build.
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