Imaging systems and methods are described. In one aspect, an imaging system includes a light source that is operable to generate a beam of light directed along a beam path and an optical element that is operable to rotate about a rotational axis. The optical element has two or more optical faces that are positionable to intersect the beam path over respective non-overlapping ranges of rotational positions of the optical element. At least two different optical faces are operable to scan the beam of light in different respective scan planes during rotation of the optical element. In an imaging method, a beam of light directed along a beam path is generated. The beam path is consecutively intersected with at least two different optical faces to scan the light beam in different respective scan planes.