Ended up finding this thread looking for an answer on importing 3Shape color scans and I found a way. In 3Shape when exporting the file received with a color scan, in the "Advanced" tab, export, (Shift+E to be faster) there is an option to export TRIOS scan data (Export for 3rd party application. When saving these files when naming them makes sure to save them as PLY files.
Drop PLY files into ExoCad and boom, color scan.