I think if you wish to use bcp to do this you create a 'format file' .. this may be of help
Working with the bcp Command-line Utility - Simple Talk[
^]
Else, as per the title of your question, there's XML, which is basically
bcp.exe "Select ... FOR XML AUTO" queryout [filename] -x
with other options, maybe -S for the server, -T for trusted connection etc, as per
Working with the bcp Command-line Utility - Simple Talk[
^]