Using GMapToGPX bookmarklet
You can get it into your browser by visiting the GMapToGPX home page. Once you have your waypoints (or routes) in the Google Maps page you just click the GMapToGPX bookmark button - and it will save your markers. Depending on the Google Maps mode you may be saving it first into KML format which can be converted to GPX (and many other) format by the excellent GPSVisualizer.
You cannot convert any Google maps. For example, the saving does not work on the geocaching.com maps or on other maps that are mashed-up (enriched) by other contents. So far, however, I have not found it too much limiting.
Using Nav2Us maplets
For more interactive use (for extracting waypoint by waypoint from a Google Map), I like to use the Nav'It maplet, It allows to select markers, to name them and to save them into the GPX format.The Nav2Us has several more maplets that may be useful in the similar conversions.
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