Which docs? I see two mentions in Documentation/ but they're not really operational claims...
The incremental snapshots are part of the internal implementation for etcd. For v3, it's a batched transaction from applying the raft log; there's no way to access it (or really make sense of it) at the client level. The Snapshot RPC is for backing up the complete v3 boltdb database; it's used by the etcdctl snapshot commands.
For incrementally syncing / mirroring keys, the v3 client supports it in the mirror package (
https://github.com/coreos/etcd/blob/master/clientv3/mirror) and it's available through etcdctl with the make-mirror command.