Actually, we can use the PFDavAdmin tool -> Tools -> Export Properties -> Select the desired properties you want to export -> save it to a TXT file.
If you mean the format in the output TXT file is not so friendly, you may press Ctrl+A to select all and press Ctrl+C to copy all the contents. Then open Excel, and in a new sheet, press Ctrl+V to paste it in the Excel.
Then you may see a more friendly view like below
About Microsoft Exchange Server Public Folder DAV-based Administration Tool
Use the Exchange Server Public Folder Distributed Authoring and Versioning (DAV)-based Administration tool (PFDAVAdmin) to perform various management tasks related to public folders and mailboxes. The tool checks the permissions status of each public and mailbox folder and corrects any problems found. The ability to bulk export/import the permissions and replica lists make this tool invaluable in achieving greater productivity in managing public folders. The program can also reports content information of each public folder and mailbox folder such as the number of items in each folder, size of folder and most recent modification date of any item in the folder.