To Crawl a site, you start with one page, download it, then parse it for links,
then download all those pages, then parse all them, repeat.....


So Can you get only a list of URLS without downloading the whole site... NO

IF you use the "Make an index" then you would have a list of all the local
files, which were all the links that were followed. So you should be able in
most cases to extract the urls from that. and modify them back to web urls
from the local version.