To extract data from MS Access you would use the ODBCQuery component from the Data tab in the Toolbox window. This will return a DataTable that you could then iterate through or otherwise process to get it into a format you want to place in Word. Using our standard Word connector methods, you would define bookmarks inside your document that you could then set the text of within your automation. The tricky part would be converting your DataTable into a string that looks good enough to enter into a Word bookmark. I assume though that you probably want to populate a Word table which would negate the need for making your output DataTable "pretty".
There isn't a direct "Pega Robotics" only method to populate a table in a Word document, although I am sure that could be done using the Word object via a C# script. We do expose the Word Interop objects required in the connector, but honestly this would be easier to do in a script. Here is an article I located on MSDN that may get you started. I have not had to do this personally on any projects that I am aware of, so I do not have any examples to share with you.
In regards to populating the data into the Word document, I would recommend looking into Open XML instead of using Interop. Working directly with the xml allows you to be "pretty" and eliminates the overhead of having to run an instance of Word. It also avoids having to use Silverlight.