It's pretty straightforward to query out the guts of a DNS-SD entry via dig
by asking your nameserver directly; but for multicast DNS, I'm not sure where to look.
Edit: My motivation is to be able to see example DNS entries so that I can better configure static bonjour entries for my OS X machines.
Aha, the secret is the multicast address/port.
For example, to query available AFP servers:
dig @224.0.0.251 -p 5353 -t ptr _afpovertcp._tcp.local