For the direct procedure, see function BDD2ZDD on slide 153 of the BDD chapter. There are also related functions like BDD2FDD and the converse ones.

Slides 78-91 of the chapter on propositional logic describe such transformations in terms of matrix multiplications to relate them to algebra. Also that is an option in theory, but I would not recommend that. It is rather meant for having further insights into normal forms.