The easiest way to import IE favorites to Edge is to set this policy AutoImportAtFirstRun before Edge's first run. You can enable this policy and choose Automatically imports all supported datatypes and settings from Internet Explorer in the options.
If you're not running the Edge browser for the first time, things will be complicate because IE and Edge use different ways to manage data. IE stores the favorites as shortcut links in the computer but Edge stores them as json data in a file.
In this situation, you can refer to this article to export IE favorites using PowerShell script first, then refer to this article to edit the registry key using PowerShell script to import IE favorites data to Edge. The registry key you need to modify is ManagedFavorites under path SOFTWARE\Policies\Microsoft\Edge
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Regards,
Yu Zhou