Qt3d is a regular Qt module, just like Qt Widgets. So you should add Qt3d to your project just as you do it for Widgets:
cmake_minimum_required(VERSION 2.8.8)
project(testproject)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
find_package(Qt5Widgets)
find_package(Qt53D)
add_executable(helloworld teapotview.cpp main.cpp)
qt5_use_modules(helloworld Widgets 3D)
I've tested this CMakeLists.txt with Teapot example. It's available here. Note that the example you've posted was written for Qt4 and will not work with Qt5.
I've used Ubuntu 13.04 with qt3d5-dev
package available in the main repository.