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You can use something called Labels in Audacity to bookmark all words and export that to a textfile of timestamps and it can be done for selections so you can get both start and end of each word.
If you don't need that kind of precision you can just listen, pause and write down times of course, but labels probably give you better precision. Also it might be possible to just find all the silent gaps with a program, but that will most likely require manual tweaking and may not be worth it.
Likes: atilim, gorkem