you need to run the full freesurfer pipeline ('recon-all') on your subject. I suggest reading through the online freesurfer wiki so that you understand the basics of how to use the command line tools and set up your directories - there's lots of good documentation for beginners.
once the recon-all pipeline has been completed without errors on your subject, you can convert any of the files in the 'surf' folder into .stl or .vtk using the 'mri_convert' command, i.e.
cd /path/to/subject_freesurfer_output/surf
mri_convert lh.pial lh.pial.stl
mri_convert rh.pial rh.pial.stl
mri_convert lh.orig lh.orig.stl
etc. etc.
hope that helps,
-David