You can enable Terminal to view hidden files and just drag them out.
However when I did this the other time some of the file names were jumbled out. Seems to be an irreversible process and you have to manually rename them. No idea how to go about it. I think it has something to do with how iTunes catalogues the playlists.
I don't think you can do that with an iPhone/touch because it doesn't appear in the finder as a removable drive.