Whilst the iPhone 5S fingerprint scanner has yet to be hacked, it can be bypassed with a copy of the original fingerprint that is registered to the device.
The guys from the Chaos Computer Club have put together a short video which demonstrates this, and you can see it in action in the video below.
First, the fingerprint of the enroled user is photographed with 2400 dpi resolution. The resulting image is then cleaned up, inverted and laser printed with 1200 dpi onto transparent sheet with a thick toner setting. Finally, pink latex milk or white woodglue is smeared into the pattern created by the toner onto the transparent sheet. After it cures, the thin latex sheet is lifted from the sheet, breathed on to make it a tiny bit moist and then placed onto the sensor to unlock the phone. This process has been used with minor refinements and variations against the vast majority of fingerprint sensors on the market.
Of course anyone who wanted to bypass the fingerprint scanner on the iPhone 5S using this method would need a copy of the originial fingerprint for the handset.