These variables are generally hardcoded into FindFoo.cmake so that it is not possible to extract them without running the function first. Note that sometimes the value of Foo_LIBRARIES depends on the system configuration, which is unknown until find_package(Foo) is run.
You asked: (1) Is there an easy way to display these variables without having to run cmake on a CMakeLists.txt file, and (2) without having to manually inspect the config.cmake file?
I can give you a yes answer to (2) but it does require that you (re)run cmake. But since you can re-run your cmake configure step by simply executing cmake . in the build directory, re-running cmake should not keep you from trying this approach. My answer is given in this SO answer and uses the get_cmake_property command. Here is that code encapsulated into a cmake macro, print_all_variables, so I can use it when debugging my cmake scripts.
I am always suspicious of variables changing values throughout a script somewhere so I like to see the value of a variable at a particular point in the running script. Combining the ideas from both Phil and Aaron B. this is what I'm using: