How do I transfer files from iCloud to my computer? I don't want to pay for iCloud anymore.

The computer is it Mac or you are using windows computer , what is the version of it , please clarify did you turned iCloud Drive in it , the files will upload when sufficient iCloud storage is there , you don't want to upgrade the storage plan , either manage the iCloud storage to free 5GB or delete I=unwanted iCloud data .

The files can be transferred from iPhone to computer see the complete steps in the article Share files and folders in iCloud Drive on iCloud.com - Apple Support

The question was about a COMPUTER NOT A PHONE. I am about ready to return $3,000 of Apple computers and iPad Pro back. The cloud is annoying and slow, slow, slow!