In this study, to address the current high early-detection miss rate of colorectal cancer (CRC) polyps, we explore the potentials of utilizing transfer learning and machine learning (ML) classifiers to precisely and sensitively classify the type of CRC polyps. Instead of using the common colonoscopic images, we applied three different ML algorithms on the 3D textural image outputs of a unique vision-based surface tactile sensor (VS-TS). To collect realistic textural images of CRC polyps for training the utilized ML classifiers and evaluating their performance, we first designed and additively manufactured 48 types of realistic polyp phantoms with different hardness, type, and textures. Next, the performance of the used three ML algorithms in classifying the type of fabricated polyps was quantitatively evaluated using various statistical metrics.