A few minutes after I posted my question, I found that Poly.coeffs does what I want and works for multivariate polynomials
```
lin = Poly(expr, x, y).coeffs()
solve(lin, [a,b,c,d,e])
```
with the following definitions
```
x, y = symbols("x, y")
a, b, c, d, e = symbols("a, b, c, d, e")
f = 3*x**2-2*y+1
g = x*y+x-2*y
h = x**2+2*y**2-2
j = x+3
k = x**2-x*y+2
expr = a*f + b*g + c*h + d*j + e*k - (7*x**2 + 2*x*y + 4*x - 4*y**2 - 14*y + 9)
```