Please do the following:
Here are the steps to create an Excel Report of Test Cases with Steps:
1. Click on Dashboard->Analysis View
2. Click on + and New Excel Report
3. Enter Report Name
4. If entered as Test with Design Steps
5. Click on Query Builder and using fields in Test & Design Step create Query
6. Click OK.
7. Click Generation Settings
8. Change Status to Ready
9. Click Generate.
10. Enter a name to save report
11. Click Save
12. See Resulting report.
You should then be able to modify the report as you see fit.

Here is the resulting SQL query:
SELECT
TEST.TS_TEST_ID as ''Test ID'', /*Test.Test ID */
TEST.TS_TEST_NAME as ''Test Name'', /*Test.Test Name */
TEST.TS_DESCRIPTION as ''Test Desc.'', /*Test.Test Description */
DESSTEPS.DS_STEP_NAME as ''Step Name'', /*Design Step.Step Name */
DESSTEPS.DS_DESCRIPTION as ''Step Desc.'', /*Design Step.Step Description */
DESSTEPS.DS_EXPECTED as ''Expected Result'', /*Design Step.Expected Result*/
TEST.TS_STATUS as ''Test Status'', /*Test.Status */
TEST.TS_TYPE as ''Test Type'', /*Test.Type */
TEST.TS_RESPONSIBLE as ''Test Designer'', /*Test.Designer */
TEST.TS_USER_03 as ''Test Priority'', /*Test.Priority */
TEST.TS_USER_02 as ''Test Reviewer'', /*Test.Reviewer */
TEST.TS_PATH as ''Test Path'', /*Test Path */
TEST.TS_USER_04 as ''Test Level'', /*Test.Level */
ALL_LISTS.AL_DESCRIPTION as ''Test Plan Folder Name'' /*Test Plan Folder.Name*/
FROM
Test,
DESSTEPS,
ALL_LISTS
WHERE
DS_TEST_ID = TS_TEST_ID AND
AL_ITEM_ID = TS_SUBJECT

@David Hall
How can we extract the test cases from sub folders?

For example
Folder 1 / folder 2 / folder 3
Considering folder 2 and 3 has multiple folders inside it.

I want to extract the data by mapping folder 1 which will eventually give me all test cases which are under folder 2 and 3.