Most off-the-shelf scanners have that ability, starting at 20 bucks and going up. I like the ones that show the systems check as well as reading and clearing codes. Mine is an older Innova, looks like a 3030 model. I forget the cost, but it was not the most nor least expensive. I like it. Friends and co-workers who borrow it like it.
OBD-3 isn't out yet (that I am aware of), I think any OBD-2 is what you want for now and the near future.