One way to do this is to use Tools/List/Create, FEM/Nodes/Association, Association: Face, then select the Face of the solid. Once you click Apply, the list of nodes for that specific surface will be pasted onto the floating window labeled `lista` (or `listb`, depending on what your Target List is set to). Then you can cut and paste this list, or even just type `lista` to in whatever data field you need it for.
For creating RBE2s or RBE3s the best way is probably to use Utilities / FEM-General / RBE2/RBE3 Spider. This will allow you to simply pick a surface or face (or other options) and automatically create the RBE.
For the general case you can use the List function under Tools/List/Create. Select the options FEM/Node/Association and (e.g.) Surface in the list box, and it will create a list of all the nodes associated to that surface. You can use the selected nodes in any other application region by typing the shortcut `lista` or `listb` (depending which list you saved them into).