There is always the brute force way. You can list all your results $f(x_1x_2x_3)=y_1y_2y_3$:
\begin{align}
&f(\color{red}{000})=\color{blue}{000},\qquad f(001)=001,\qquad f(010)=100,\\
&f(011)=001,\qquad f(100)=000,\qquad f(101)=001,\\
&f(110)=100,\qquad f(111)=001.
\end{align}
Then your $F(x_1,x_2,x_3,y_1,y_2,y_3)$ can be given by connecting all valid combinations with disjunction:
\begin{align}
&(x_1=\color{red}0\land x_2=\color{red}0\land x_3=\color{red}0\land y_1=\color{blue}0\land y_2=\color{blue}0\land y_3=\color{blue}0)\\
\lor\; &(x_1=0\land x_2=0\land x_3=1\land y_1=0\land y_2=0\land y_3=1)\\
\lor\; &(x_1=0\land x_2=1\land x_3=0\land y_1=1\land y_2=0\land y_3=0)\\
&\qquad\qquad\vdots\\
\lor\; &(x_1=1\land x_2=1\land x_3=1\land y_1=0\land y_2=0\land y_3=1).\\
\end{align}
Now you have at least a formula $-$ a very long one though. You can try to simplify. In this example you can reach at something like this:
$$y_2=0\land y_3=x_3\land(y_1=1\leftrightarrow(x_2=1\land x_3=0)).$$
But I admit I found it by looking closely at the table of values instead of the long formula.