PC or Mac?
The Canon software supplied with the camera can do it I believe, and save the JPEG as a file. I don't use that, however, so someone else will have to provide the specific program name for you.
What I use (on PC) is a freeware program called Irfan View,
IrfanView - Official Homepage - one of the most popular viewers worldwide, which will very quickly extract the JPEG from the raw file for viewing. It makes scanning through a folder of raw files quite easy.
You can save the image from Irfan View if you like, though I believe it will do the JPEG compression again and so the image may be slightly (though not visually) degraded.
-Noel