Spark >= 3.0.0
Since Spark 3.0 you can use vector_to_array
import org.apache.spark.ml.functions.vector_to_array
testDF.select(vector_to_array($"scaledFeatures").alias("_tmp")).select(exprs:_*)
Spark < 3.0.0
One possible approach is something similar to this
import org.apache.spark.sql.functions.udf
// In Spark 1.x you'll will have to replace ML Vector with MLLib one
// import org.apache.spark.mllib.linalg.Vector
// In 2.x the below is usually the right choice
import org.apache.spark.ml.linalg.Vector
// Get size of the vector
val n = testDF.first.getAs[Vector](0).size
// Simple helper to convert vector to array<double>
// asNondeterministic is available in Spark 2.3 or befor
// It can be removed, but at the cost of decreased performance
val vecToSeq = udf((v: Vector) => v.toArray).asNondeterministic
// Prepare a list of columns to create
val exprs = (0 until n).map(i => $"_tmp".getItem(i).alias(s"f$i"))
testDF.select(vecToSeq($"scaledFeatures").alias("_tmp")).select(exprs:_*)
If you know a list of columns upfront you can simplify this a little:
val cols: Seq[String] = ???
val exprs = cols.zipWithIndex.map{ case (c, i) => $"_tmp".getItem(i).alias(c) }
For Python equivalent see How to split Vector into columns – using PySpark.