Maltaannon released his Youveelizer plug-in for UV mapping in After Effects. It sells for about $30. In addition, there's a tutorial to learn how to improve your your 3D workflow in AE:
'From this day forward you are able to take your 3D render and replace textures or even add reflections and environment. In a nutshell all you need to do is to apply the Youveelizer to a layer with a UV render pass to apply a texture to a rendered 3d object, or to a Normal render pass to add reflections. All 3d objects should be rendered out from a 3d application such as 3d Studio Max, Maxon Cinema 4D, or any other 3d package capable of rendering UV and Normal render passes. However it’s sometimes difficult to render out a nice UV pass. A solution to that problem may be simply applying a texture that simulates a good UV map. That’s why I’ve included a nice 2000×2000 pixels “uvmap_texture.tif” in the product package.' See also the article by Lutz Albrecht on Adobe Developer Connection, Integrating 3D applications with After Effects – Part 1: Working with UV data. More background and links are in the AE Help doc Importing and using 3D files from other application. Other options for re-lighting were discussed in the AEP post Normality 3 video tutorial.
Update: Among comments on ambient occlusion, mackdadd noted...
"RE:Vision's Re:Map also does this sort of thing [UV mapping & more], although I haven't watched Maltannon's tutorial yet to see if they work the same way. Always good to have more (and cheaper!) options!"
Update 2: Creative Workflow Hacks notes Pixel Bender UV mapping projects AE: Projecting a Movie Onto a Complex Surface and 3D Normal Mapping with Pixel Bender. See also Smart Normal goes Pixel Bender, "a lightweight normalmapper supporting condensed and sobel-filters."
Update 3: Motionworks' Unplugged 4 is an interview with "Jerzy Drozda Jr, the quirky host of Maltaannon.com."
Update 4: see also How to use UV Passes in 2D by Kert Gartner.