The simple way is the J Tech plugin:
With Inkscape Gcodetools plugin:
IMPORTANT: Every time you make any of the above steps you need to select the object (OK)
Image 1: after selecting the object, select 1st option “Object to Path”
Image 4: remove the line selected
Image 5: change “feed”. This is the speed of moving with laser ON. In my case I’m using a red laser from a DVD rom burning at 1.4mA to cut some black vinyl.
Attention on the parameters on the other images especially to the Z settings
On the last image you will generate the Gcode. BE SURE to select the “Path to Gcode” tab before Apply.