Curves – point to B splines to line segments?

I would like to generate a smooth path between the 3D points, and I think this is usually done with B-splines, although in reality it is not a requirement.

The input is a set of points (like 10 to 20 of them) and the output must be another set of points, a configurable number of points, which basically describes a point-to-point route for easy interpolation at runtime, along with orientation information for the character that is on that path (although this could be inferred from the path itself).

It seems that it should be a common problem, but I do not know what to look for.

It is not necessary to avoid obstacles, etc.