Higher-order Bessel-like optical beams can be created through off-axis coupling of light into a multimode fiber. Thanks to the aberration that is inherent in spherical surfaces, through directing the Bessel-like beam comprising multiple concentric rings onto a low-cost lens, we created multiple foci at different depths. Moreover, scanning of the optical fiber with a piezoelectric actuator in the lateral direction, we were able to acquire data from different targets located at different planes. After coupling back into the fiber, the reflected portions of light from different targets could be spatially differentiated and directed to different photo-detection units. The proposed architecture is particularly appealing for laser scanning endoscopy applications, as it does not require additional passive or active optical components for generating Bessel beams (axicons or spatial light modulators), therefore offering both miniaturized realization and high optical transmission. We've further demonstrated the tunability of foci separation via altering fiber-coupling conditions with tilt and translation stages. Overall, the proposed scanning method has paved the way for addressing multiple slices at single lateral scan, thus offering improved speed for imaging or ablation applications.