Can a PCB footprint be extracted from a solid model?
Not very effectively.

A 3D model will, at best, tell you where the part has pins. A footprint needs to specify the size and shape of the pads and soldermask for those pins, which may be significantly different from the shape of the pins themselves. Determining how different it needs to be is often a matter of trial and error to determine what has the best yield in production. (And hand-solderable footprints are another matter entirely.)

If the part uses a more-or-less standard footprint, it's probably feasible to extrapolate a footprint from the model based on footprints for similarly shaped parts. If it's something entirely novel, though, you're best off looking to the manufacturer for recommendations.