Palmprint and hand shape, as two kinds of important biometric characteristics, have been widely studied and applied to human identity recognition. The existing research is based mainly on 2D images, which lose the third-dimensional information. The biological features extracted from 2D images are distorted by pressure and rolling, so the subsequent feature matching and recognition are inaccurate. This paper presents a method to acquire accurate 3D shapes of palmprint and hand by projecting full-field composite color sinusoidal fringe patterns and the corresponding color texture information. A 3D imaging system is designed to capture and process the full-field composite color fringe patterns on hand surface. Composite color fringe patterns having the optimum three fringe numbers are generated by software and projected onto the surface of human hand by a digital light processing projector. From another viewpoint, a color CCD camera captures the deformed fringe patterns and saves them for postprocessing. After compensating for the cross talk and chromatic aberration between color channels, three fringe patterns are extracted from three color channels of a captured composite color image. Wrapped phase information can be calculated from the sinusoidal fringe patterns with high precision. At the same time, the absolute phase of each pixel is determined by the optimum three-fringe selection method. After building up the relationship between absolute phase map and 3D shape data, the 3D palmprint and hand are obtained. Color texture information can be directly captured or demodulated from the captured composite fringe pattern images. Experimental results show that the proposed method and system can yield accurate 3D shape and color texture information of the palmprint and hand shape.