For 3D printing miniatures resin (SLA) printers are the preferred choice. There's none of the lines that appear in filament (FDM) printers leave on their prints and the detail is finer.
I bought my latest FDM printer (Prusa Mini) without any intention of getting into printing miniatures, but thought I would have to try it at some point. I had been looking for something free to print and decided that the HeroForge samples would be a good choice.
I printed both of them but part of the Paladin miniature broke off during the clean-up process after the print completed. The Explorer however came out fine and wondered how well she would paint up.
She wasn't easy to paint, especially the face as I had to work out detail that would normally be visible on a sculpted model, but I am pleasantly surprised. Good enough that if I need a mini for a special purpose in the future I will look at printing one if I can't find an appropriate one elsewhere.