Best way to export FBX ready with model and textures?

I've been trying to find a way to export a FBX with textures embeded into it but I can't find a easy way to do it. I use mainly the Substance plugin in Maya but I think neither of the workflows provided create materials that can then be embeded into the FBX after export, since it doesn't have any lambert, blinn or other Maya material workflow. Is there a way from inside Substance or any other program I can use to easily apply Subtance textures to a model and then export a FBX with the materials embeded in it? I'd like it to be embeded in a way in which I can see them just by just using the Windows 3D Viewer.