There is no built-in way of fetching the token easily once the cluster is up and running, but here is a kubectl command you can copy and paste that will print out the token for you:
# kubectl -n kube-system get secret clusterinfo -o yaml | grep token-map | awk '{print $2}' | base64 --decode | sed "s|{||g;s|}||g;s|:|.|g;s/\"//g;" | xargs echo