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Seven Doom characters were built as sculptures during Doom & Doom II development. The first models - the Doomguy, baron of hell and cyberdemon - were sculpted by Adrian Carmack. Working on them proved to be more time-consuming than he expected; for this reason, id Software eventually hired Gregor Punchatz to build the rest of the models (the arch-vile, mancubus, revenant and spiderdemon).

Translating the modeled characters into the game was a relatively straightforward task. The sculptures were first captured from eight different angles using a video camera. The scans were then finished by rescaling, recoloring and animating them in the Doom engine's 256 colour graphics format. This procedure saved Adrian and assistant artist Kevin Cloud a lot of work, as they only had to draw a few character sprite sets from scratch.

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