From VFP, you can have a command button that has the following in the click method:

do yourQuery.qpr
copy to yourExcelFile xls

Now, of course, the command button needs to be in a form, and the form in a project, and you need to compile the project into an application or exe.
If you don't need any input from the user (like parameters) , you can use a menu bar that runs the code, instead of a form.

From Excel, you can access VFP data via ODBC, the same way you access Oracle data.