Yes, through the HubSpot to Salesforce sync you already run, or by spreadsheet export in your own column format.
RelationLens delivers released contacts to HubSpot, and onward to Salesforce through the HubSpot to Salesforce sync many companies already run.
Released contacts can be downloaded as a spreadsheet in your own column format, ready to load into Salesforce or any other system. Every export can be re-downloaded for 24 months.
See RelationLens.