There are 3 ways that I am familiar with.
mrMikee described the extruded method (Spancrete, Dycore, etc.). There are even variations of this where some are cast with the top up and bottom weld plates are tied to the bed and top weld plates are dug into the wet surface after the machine passes by. Some plank are cast with the top down, so the method of cast in plates is just the opposite. The beds are typically 600 or 700 feet in length.
Fabcon extrudes plank with stone creating the cores until the concrete has hardened. I understand it is then removed. The core inside has a very rough surface.
The wet cast method (Flexicore) is poured like normal site cast concrete in steel forms. I believe the hollow cores are done with infatible forms.
I am not sure how much these methods have changed over the years.
Plank comes in many different widths, 48" being the most common.