You can use SQL for import. For example, in eav_attribute you can find attribute_id for product url_key. Default value is 126
Further, you may use this SQL:
SELECT
catalog_product_entity.entity_id,
catalog_product_entity_varchar.store_id,
catalog_product_entity_varchar.value as 'URL_KEY'
FROM
`catalog_product_entity` inner JOIN catalog_product_entity_varchar
ON
catalog_product_entity_varchar.entity_id = catalog_product_entity.entity_id
WHERE attribute_id = 126
The result will smth like this:
