This video will show you how to export your contacts from iCloud, and convert the VCF files to a usable CSV file
Once you save your VCF file, use http://labs.brotherli.ch/vcfconvert/ to convert it from VCF to excel.
I just double checked the link, and it seems to work just fine. But you can try just the parent domain: http://labs.brotherli.ch and choose the top option that says VCF-convert.
To learn more about what we do at Vyral Marketing, please check out our web site at http://www.getvyral.com. Hope this helps!!