We have developed a 2.1 mm outer diameter optical coherence tomography endoscope that provides radial scans of luminal structures. The endoscope consists of three elements: (1) a stationary central core containing the fibers and focusing elements, (2) a rotating intermediate tube with a distal rod prism, and (3) a stationary sterilized glass cover. This design enables radial and spiral scanning and allows adjustment of the axial focal distance. Additionally, this design is capable of focusing light from multiple fibers into tissue. The performance of the endoscope was demonstrated in a study of tissue engineered blood vessels imaged at various time points during development.