This is very old question, but I have looked for the same in three.js recently. There is no direct way to render to frame buffer, but actually it is done by render to texture (RTT) process. I check the framework source code and figure out the following code:
renderer.render( rttScene, rttCamera, rttTexture, true );
// ...
var width = rttTexture.width;
var height = rttTexture.height;
var pixels = new Uint8Array(4 * width * height); // be careful - allocate memory only once
// ...
var gl = renderer.context;
var framebuffer = rttTexture.__webglFramebuffer;
gl.bindFramebuffer(gl.FRAMEBUFFER, framebuffer);
gl.viewport(0, 0, width, height);
gl.readPixels(0, 0, width, height, gl.RGBA, gl.UNSIGNED_BYTE, pixels);
gl.bindFramebuffer(gl.FRAMEBUFFER, null);
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