If you only need to copy a few files and don't want to pay for software, HFSExplorer is the standard recommendation. It is an open-source tool that can read Mac-formatted drives.
: Enables "Mac awareness" so the drive behaves like a native Windows disk, supporting SoftRAID and preserving metadata that formats like exFAT would strip away. access mac hard drive on windows
Seamless read/write support for HFS+, APFS, and Core Storage volumes If you only need to copy a few