Any time you're in a view in RPM, you'll see a Download button on the right side of the toolbar. This button will generate a .xlsx file that you can view and edit in Excel.
The file generated will reflect the exact view you're currently looking at, so you can filter for the data you need before downloading.
At any time, you can check which download you did last by opening your user dropdown menu in the top bar and clicking on Last view download.
If your user role has Setup privilege, you can check the last view download for all users by clicking Last view downloads in Setup.
If your download is going to take more than a few seconds, you can close the popup and the download will continue in the background.