Without any automated tools for generating a survey stakeout point file for Civil 3D Pipe networks, it is more than a little frustrating. However, with some creative thinking and taking advantage of other basic functionality within Civil 3D, we can create Pipe Network points for export without too much additional effort.
But First, A Few Options
If all you are looking to do is create and Civil 3D COGO points structure rim locations and elevations, this post isn't really for you. Placing manual points at structures is quicker and easier than what is discussed here.
This will be a 2-part post. In this first post, I'll cover how to generate COGO points along Pipe Networks for the stakeout of pipe alignments, structure locations, and invert/sump depths. In the second/follow-up post, I'll be covering an alternative method utilizing the Panorama and a spreadsheet.
Starting Out
Draw your pipe network in the project if you haven't already.

With the pipe network created, use the Civil 3D alignment tools to "Create Alignment from Network Parts."

Select the first and last structures in your Pipe Network (or any structures that bound the network) and hit Enter to create the alignment. Define the alignment however you wish and select "OK" when you are done. This will bring to you to the Create Profile dialog where you will sample the alignment and surface to create a profile for the Pipe Network. Choose "Draw in profile view" when you are done.

Choose the options within the profile view creation dialog as necessary for your company/client standards. When completed, pick the location of the profile view and you'll end up with something similar to the image below.

Take Advantage of the Power of Feature Lines
First, create a feature line along your pipe network. The easiest way is to do so is to "Create Feature Lines from Alignment."

Define the feature line styles and settings making sure to de-select "Weed points" and "Create dynamic link to the alignment" (checking these boxes isn't the end of the world, but will require more work on your part after the feature line has been generated to delete unnecessary vertexes and manually removing the link to the alignment). Select "OK" when you are finished.

Now that the feature line is created, select the profile view containing the Pipe Network. Choose "Project Objects To Profile View" from the contextual ribbon tab and select the feature line from your drawing.

Confirm the projection style for the feature line (mostly irrelevant as we are just using it to base our COGO points off of) and select "OK." If you didn't remove the dynamic link between the feature line and the alignment, now would be the time to do so, as well as deleting any extraneous PI's from the feature line that were a result of weeding.
With the feature line placed in the profile view, you should see each vertices lined up perfectly with the center of each structure.

This will be what we want if only the sump elevation of our structures is needed for stakeout. However, if you also need invert elevations, add any necessary PI's to the feature line to accommodate the number of inverts for each structure. Only sump elevations will be shown in this example, but the process for generating invert stakeout points in exactly the same, but with more vertexes (which also means more points).
Adjust the vertical adjustment grips of your feature line to match with the sump depths of your structures.

Creating COGO Points Automatically
Now we have the basis in which to generate Civil 3D COGO points quickly and easily. Got to the "Create Points" toolbar (or the points drop-down within the Home ribbon) and select the "Automatic" method from the "Miscellaneous" category.

You will then be prompted to select the geometry you wish to create the points along. Pick your feature line from your drawing. You'll be prompted to give the COGO points a description, so type a raw description that can easily be separated from the rest of your project (either in a list or point group).

You'll have to hit Enter several times until the description has been applied to all COGO points generated from every vertexes of the feature line. Now that the points are created in your drawing, go ahead and zoom in on a point and compare the point elevation with the surface elevation around it to confirm it has been place properly at the sump/invert elevation.

Export the Pipe Network Survey Points
All that is left to do is pick the point group from the Prospector tab (or a list of points from the preview pane) of the Toolspace, right-click, and choose "Export Points" from the shortcut menu.

You will now have a pipe network survey staking file ready to upload to your data collector.

Although this is a lengthy tutorial, the process is pretty methodical and shouldn't take much time after you understand the concepts and tools. Stay tuned and come back for Part 2 of this topic where I'll discuss utilizing the Panorama and a spreadsheet to get identical results to this exercise (perhaps in fewer, easier steps. You'll just have to wait and see!).