Unless you have proven demand, you should start with aluminum tooling. It's much cheaper than steel, and (I'm assuming you want this for injection molding) you can produce quite a decent amount of parts from aluminum tooling if you handle it carefully.
Why do you want your tooling to be based on a 3D print model? Typically, for greatest accuracy, the tool and die company works from your original CAD work that you printed the 3D model from.
In terms of companies, Protolabs does plastic injection molding: https://www.protolabs.com/injection-molding/plastic-injection-molding/