It's not just lighting or DoF or film format. When I first got my Pentax 67 105mm, I shot a roll of the same film I shot with my Mamiya C330 + 80mm and 55mm of the same subjects at the same location on the same time of day. I could see a notable difference from just looking at the slides (I was shooting trains and train terminals on Provia 400X pushed to 3200).
I shot some negative film using my school's Hasselblad + 80mm and saw a noticeable difference compared to the Mamiya C330's lens just by looking at the negatives, too.
That's not to say the Mamiya 80mm or 55mm aren't good lenses or could never produce the same effect, but it seems the Pentax 105mm and the Hasselblad 80mm did it more consistently and had more of a "3D look" to it even in the same lighting situations.
The "3D look" is definitely a subjective thing, so it's hard to quantify. Not all lenses render images the same way, so naturally some will have this type of look and some won't.