I'm not exactly sure what you want to know, and how you want Maya to present it to you..? do you want to know what frames have keys? or what the key values are? or something else?
I mean a single object can have hundreds of separate animation curves assigned to it.. each with different keyframes and values..
if you animate a cube (pCube1) moving and rotating then do:
listConnections -type "animCurve" pCube1;
you'll get a list of 6 anim curves, each one of which will (may) have different keyframes. If you do:
keyframe -q pCube1_translateX
you'll get the frames.. and if you do:
keyframe -q -vc pCube1_translateX
you'll get the values.. even if you could do all this with one command how would you interpret the result..?
does this help you any?
:nathaN