As far as I am aware, there's no built in way to do this on Youtube.
You could of course use the Youtube API to easily get all of your playlists in xml using the following:
That xml file will have the unique IDs for each of your playlists, which you can then use to get the details for each playlist, including Video URLs and titles.
The following API call will again give you an xml file:
Working with those XML files manually would be a nightmare however.
It would be best to create a small web app (if you know a bit of web programming) to pull out and present the relevant info from those XML files.
You can read more about the API here: