How can I extract factor loadings from lavaan?

You can get the standardized loadings of the model in matrix form by using the inspect function from the lavaan package. The following code will return the lambda (factor loadings), theta (observed error covariance matrix), psi (latent covariance matrix), and beta (latent paths) matrices.

inspect(fit,what="std")

It appears from your example that you are looking for the factor loadings, which are in the lambda matrix:

inspect(fit,what="std")$lambda

In like manner, you can extract unstandardized parameters by specifying "est" instead of "std".