Maybe use a NEW kitty litter scoop, or a collander, or something else similar which you can scoop out gravel while letting the water drain back out.
You could also maybe use a strong suction on a gravel vacuum (a small hose with a lot of current) to suck the gravel up, depending on the size of the gravel. Not sure if that would work or not.
I would be concerned about trying to get the gravel out without draining the tank unless it's a real new or very consistently vacuumed setup, because once you start to stir that up, you're going to get a fair amount of gunk up into the water column. Every time I've had to totally change out gravel or move a tank or anything, it is amazing how much crud is in there and how nasty the water gets. I know it's a lot of water, but maybe drain most / some of it into a few big tote containers or something and use those to hold the fish while you are changing stuff. When I've added sand to a tank in the past, even well rinsed sand gets very cloudy. The first time I used sand as a substrate, I ended up having to do a 95% water change immediately after to get the massive cloud of particles out. Doing that with fish in there is not ideal (my tank was empty at the time). If you have one of the python or similar water changers, it is even easier. But even without, I would suspect you'll probably end up draining all or nearly all the tank by the time you're done so it's probably easier to just drain ahead of time.
Once the tank is drained or mostly drained, you can scoop the gravel out with most anything as long as it is clean - a dust pan, a container, a mixing bowl, etc. And then you can really rinse the bottom good as an added bonus. Plus you'll stay drier.
Don't change out the filter media at the same time as you totally replace the substrate - it can badly deplete your beneficial bacteria. Give it a good 2 weeks in between the two changes if possible.