DIY-level scan tools, if it's able to monitor the particular PID for the sensor in question, will display the value. E.g., the coolant temp sensor will display the temperature on the scan tool screen, not the voltage value being returned by the sensor. Some of the high-end professional tools may have that capability. But, even that likely tells you what you seek to know...whether the value being returned by the sensor is moving within a range you would expect. But if a scan tool tells you a sensor isn't returning a value, or is returning a wonky value, that only tells you something about that sensor circuit is wonky. It might not be a bad sensor, but a bad wiring connection. For a direct voltage measurement (for sensors that vary voltage), you can tap into many of the sensors with a digital voltmeter, to confirm if the sensor is the problem. Whatever scan tool you get, you'll want it to operate in as many modes as possible, and as broad a live data (parameter ID) as possible. I don't have broad experience with a lot of them, so I'll leave it to others to recommend specific brands/models, based on their experience.