Mine does it automatically as I sync automatically when connected to wifi. I've got literally hundreds of these voicememo's as my kids are always messing about on their ipods which also sync to my iTunes.
You just transfer it back through iTunes. It's then stored in your iTunes library.
In fact, you're voice memos are probably already synced there. Go to your library, click genres, then Voice Memo and you might find them all there. If not, sync your iPhone. Easy.