Copy paste works nicely.

Alternatively, if you want it to be written directly to an excel document, the easiest way (after copy/paste) would be to output the results to file. You can do this by pressing Ctrl+Shift+F (note, that by default results are set to grid, or Ctrl+D. The other option is results to text which is Ctrl+T).

Once you have it outputting to a file, when you execute your query it will open a save file dialog. Save it as a csv and let it rip.

If you want to be able to adjust some of the settings, right click anywhere in the query window and click "Query Options", then under Results > Text, you have some options you can play with.

If you need something ongoing and programmatic you'd probably want to build an SSIS package.