Robert,
You have several options.
Within WSM you can do "Export..." -> Plot as image and choose png, bmp, or jpg and get the plot as seen on the screen. Some limited options on titles and styles are available if you right click on the plot and also from the Plot menu (such as plot themes).
If you want more control over the look of the plot and the quality of the plot you should go to Mathematica and do the following:
model = "StiffAxis1"
ans = SystemModelSimulate[model];
SystemModelPlot[ans, {"torque1.tau","inertia2.w"}]
You can add any of ListLinePlot options to the SystemModelPlot plus there are a few extra options you can find in the documentation.
What I posted assumes your model is at the top level (you can do something like this if it is inside a package model="mypackage.mymodels.StiffAxis1"). It also assumes you are using the simulation defaults (which you can change within SystemModelSimulate).
and Lastly,
3, Do Export->Plot as CSV save the data in a format that is readable by Excel or any other plotting program (such as Kaleidagraph).
Regards,
Neil