You gotta rip it out of the game and somehow convert it into a .ZST savestate.
...what?
Yeah, uh...apparently someone hasn't caught that we're working with GBA and DS games here. Still, similar principles apply. A .ZST is a ZSNES savestate; the format has changed over time, but since it's well-documented, there are many tools that let you open up a .ZST and poke around the contents of the SNES' memory at the instant the file was saved. Emulators such as VBA and NO$GBA let you cut out the middlemen endemic to SNES hacking and view memory directly: GBA and DS hacking is actually in some ways
easier than SNES hacking.
Actually, I have been able to view textures for PC games using Tile Molester. What I did was take an 8-bit snapshot of the game running, used Paint Shop Pro to extract the palette, then use vSNES to insert the palette into a .ZST savestate and load it into TM.