I tend to do it now and then, so here is how I do it.
Simply use the Get-AxModel to collect the details and pipe it to a Export-CSV.
(Get-AXModel -Model 'MyModel' -Details).Elements | select path, elementtype | ` Export-Csv -NoTypeInformation -Delimiter ';' c:\mymodel.csv
I've added the -NoTypeInformation to remove some unnecessary information, and I wanted to have the semicolon as delimiter in order for the file to open seamlessly in Excel 2013.
You can also list out other information as columns like the ElementHandle and ParentHandle.