Turning 2D into 3D animation

Does anyone have any suggestions for doing this? I have a friend who is looking to animate the 2D characters he uses in his business. Any help will be appreciated. He doesn't have a budget to hire it out so if you have programs you can suggest that would help him, that would be awesome!

Here was his message to me: I've used pictory. It doesn't do what I'm looking for. I need to take already existing 2D characters and animate them in a controlled manner ideally having them appear 3D.

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