Hi,
For games like Lufia, you're lucky : talented people already ripped maps and sprites, and sites like
The Spriters Resource and
VGMaps contain many of those rips, so you may want to begin by searching through them first.
On the other side, if you want to extract data yourself, emulators like snes9x (iirc) provide a tile/sprite viewer with palette changing options.
Hope it'll help you on your spriting quest.