In MPLAB IDE click File... Import... and import the hex file.
Then click View... Program memory. That will show you the disassembled program.
Right click on the column headers and uncheck the ones you do not need. Typically you will only need the Disassembly column and the Address column.
You can then right click on an instruction and export the file as text. Then you can open it, then save it as .asm. But you have to find the destination of the goto instructions and create labels manually.