OK.
For the 4-digit model guns:
The first two digits indicate the caliber.
39, 59, 69 = 9mm
10 = 10 mm
40 = 40 S&W
45 = 45 ACP
35 = 356 TSW
Third digit is the model type based on barrel length
0 = standard model (full size)
1 = compact
2 = standard with decocking lever
4 = standard double action only
5 = compact double action only
6 = nonstandard barrel length
7 = nonstandard barrel with decocker
8 = nonstandard barrel double action only
Fourth digit is material type
3 = aluminum frame, stainless slide
4 = aluminum frame, carbon steel slide
5 = carbon steel frame and slide
6 = stainless frame and slide
7 = stainless frame, carbon steel slide
So, a 5906 is 9 mm, full size, stainless steel with carbon steel slide
3953 is a 9mm, compact double action only, stainless
(Edited to correct an error in the material type list. Should work now for everyone...)