In this case, the value is saved in the DocumentMenuRedirectUrl column in CMS_Document table. So, you can create a report mentioned above and use SQL query like this:
SELECT * FROM [CMS_Document]
WHERE NULLIF(DocumentMenuRedirectUrl, '') IS NOT NULL;
And then, you can also export the report into desired format.
The above SQL query will return values for published pages only, in case you are using workflows. IF you are using workflows, the query will be bit more complicated and you will need to check the values in the CMS_VersionHistory table in the NodeXML column.