An alternative way is to use an add-on "Enhanced History Manager", which essentially allows you to do what you're talking about.

There also is an external Windows program you can use to extract history:

http://www.nirsoft.net/utils/mozilla_history_view.html

You should be able to select multiple history items in the History Manager and copy ythe links to the clipboard. You will only get the links this way and not the titles.

Note that you can copy and paste history items to a bookmarks folder to have them saved as part of the HTML bookmarks backup.