May be you will find it being interested how I do it. When I was waiting for KiCad V5 (was told to be soon) to design my first PCB I spend time preparing my libraries and everything needed to make documentations. What I have done those time I still use, but version after version some tasks can be done easier.
I have written about it here (with zip containing example):
It was for V7. With V7 I was going with it via csv. With V8 I found that I can just copy what I need directly from KiCad window without even saving csv file.
As someone said he has some problems with my previous description I have written more detailed description: