We present prototype modules for a tracking detector consisting of multiple layers of 0.25 mm diameter scintillating fibers that are read out by linear arrays of silicon photomultipliers. The module production process is described and measurements of the key properties for both the fibers and the readout devices are shown. Five modules have been subjected to a 12 GeV/c proton/pion testbeam at CERN. A spatial resolution of 50 mu m and light yields exceeding 20 detected photons per minimum ionizing particle have been achieved, at a tracking efficiency of more than 98.5%. Possible techniques for further improvement of the spatial resolution are discussed. (C) 2010 Elsevier B.V. All rights reserved.