I'm not very familiar with ArcGIS, although I have prepared drawings to import into it. Which entities exactly do you need to transfer? Surfaces, polylines, points, or something more complicated? This page tells you how to export feature lines, COGO points, and surfaces. The feature line option includes polyline, grading feature, alignment, and profile options.
There's a tool called Connector for ArcGIS, but it's probably not worth buying if you only use it occasionally.
According to this page, you can import many civil objects directly into ArcGIS.
Can you provide more information about what you need to bring into ArcGIS?