For the camshafts, contact Web Cam Inc.
http://www.webcamshafts.com
They make cams for a 5S-FE, so they should be able to help you out with a set for a 3S-FE.
http://www.webcamshafts.com/toyota-auto.html#7
To stroke a 3S you can use a 5S crank. But a 5S has bigger rod journals. 5S also has a slightly larger bore 3.43" vs. 3.39".
Other then that, you need the correct combination of rods and pistons to make it work.
Another issue is the crank centerline to case height (measured from the center of the crankshaft to the top of the block). I don't know if its the same or not between a 3S and 5S.