Did you try looking at the documentation of their REST API? A simple query like this can retrieve the information you want for one domain in a simple XML format:

http://pfam.sanger.ac.uk/family/PF06242?output=xml

All you have to do is to construct a ilst of such URLs for all your domains of interest and use curl or wget to fetch them.

To complete Lars' answer, You can use the following XSLT stylesheet to directly extract the information you need:

<xsl:stylesheet xmlns:xsl="&lt;a href="http://www.w3.org/1999/XSL/Transform" "="" rel="nofollow">http://www.w3.org/1999/XSL/Transform'
   xmlns:p="http://pfam.sanger.ac.uk/"
   version='1.0'
   >
<xsl:output method="text" encoding="UTF-8" indent="yes"/>

<xsl:template match="/">
<xsl:for-each select="p:pfam/p:entry">
<xsl:value-of select="@accession"/>
<xsl:text>  </xsl:text>
<xsl:value-of select="normalize-space(p:comment)"/>
<xsl:text>
</xsl:text>
</xsl:for-each>
</xsl:template>

</xsl:stylesheet>

eg:

for F in PF06141 PF03141 PF06242; do xsltproc stylesheet.xsl "http://pfam.sanger.ac.uk/family/${F}?output=xml"; done
PF06141  Tail fibre component U of bacteriophage.
PF03141  Members of this family of hypothetical plant proteins are probably methyltransferases: several of the aligned sequences either match the methyltransferase profile Profile:PS50124, or contain a SAM-binding motif Profile:PS50193. Swiss:Q9ZQ84 contains both. Several family members are described as ankyrin like.
PF06242  Family of uncharacterised proteins found in Proteobacteria.