On one of the master nodes, locate the folder at:
/etc/kubernetes/pki/etcd
Within this folder there are 3 files:
ca.crt
healthcheck-client.crt
healthcheck-client.key
Copy these to the machine that you will be installing etcdctl
Download etcd from github (make sure the version matches the etcd used in the cluster):
Unzip and place the etcdctl.exe (or linux equivalent) in a folder accessible from the command line PATH.
cd <<directory with the certificates>>
etcdctl member list --endpoints=https://<<one of the etcd members>>:2379 --cacert="./ca.crt" --cert="./healthcheck-client.crt" --key="./healthcheck-client.key"
This command should list out the members within the etcd cluster