the best(only?) way to do that is to do a zone transfer from the authorative dns server, which is uasualy possible, but not always.
on *nix, you can do this using dig, with the sytaxt `dig @<auth server &rt; <domain name&rt; axfr`
the axfr part requests records of type zone transfer(or something like that).
for exampe, for yak.net i would do `dig @shaven.yak.net yak.net axfr`
you can find out what server is theoretically authorative for the zone with either whois, or with dig, to find out with dig just do `dig <domain name&rt;`, and under the ";; AUTHORITY SECTION:" the first record should be the authorative server.