We propose a fiber-based hand-held scanning probe suitable for the sample arm of an optical imaging system including optical coherence tomography. To achieve compactness, a single-body lensed-fiber and a solenoid actuator were utilized. The focusing lens of the probe was directly formed onto the distal end of a fiber, which eliminated the need for additional optical components and optical alignment. A ferromagnetic iron bead was glued onto the middle of the fiber to enable actuation by magnetic force, which allowed easy fabrication and good practicality. The fiber piece having the built-in fiber lens was forced to oscillate in its resonant frequency. With the implemented probe, optical coherence tomography images of a human fingertip and a pearl were obtained at an imaging speed of 30 frames/s over a scanning range of 4 mm.