If you're looking for something more custom, you can take advantage of our new Variables Plugin API beta (https://www.figma.com/plugin-docs/working-with-variables) and export them with what you need!
This is one of the reason we built Specify (specifyapp.com) which is a Design API that helps you sync design tokens and assets from Figma to any platforms and formats.
Specify helps you get automated pull requests containing your design tokens and assets defined in Figma.
You basically just have to configure Specify once, and every time designers update colors in Figma you'll get automated pull requests with colors transformed exactly how you want.