I personally find Blender's interface fairly unfriendly, with a
very steep learning curve, but other like it. If you want to learn the basics of Blender, see
http://www.cdschools.org/54223045235...BCOB=0&C=55205 . There is supposed to be a script to export from Blender to .ase, but I've never figured out how to use it.
If you're using Poser, I'd suggest Wings 3D
http://www.wings3d.com/ - there seem to be a lot of people exporting from there to Poser. (Personally this is my number two preference after Anim8or
http://www.anim8or.com/.)
In any case, to get to the .ase format to import to Alice, you'll need either Biturn (from Mirex)
http://mirex.mypage.sk/index.php?selected=1 or 4DBlue
http://www.4dblue.com/. Expect problems at this step - this is probably the biggest barrier to importing objects into Alice.

(I'd even rethink my opinion of Blender if I ever could get the .ase export to work.

) Also remember (read the tutorials) that you can't import textures directly with your model - you have to import them separately.
For all of these, do a search of the forums on the program name before you invest a lot of time. There are quite a few posts - unfortunately nobody has really had great success.
Re Poser 6 specifically - I personally have never used it other than to load a demo version and take a very quick look. But my understanding is that it is primarily for rendering and animation and does not have the capability for actually creating models - you have to create the models elsewhere and import them into the program. Since this also describes Alice's basic functionality (although with a completely different implementation and goal), I don't see where Poser would be at all useful for creating inputs to Alice.