Solution
If you have your frame defined in the NI-XNET Database Editor, you can use the CAN Frame Output Single Point.vi to send the frame out to the other node(s) and then the CAN Frame Input Single Point.vi to read the response back from the node that replies with data.
If you do not wish to define your frame in the NI-XNET Database Editor, you can use the CAN Raw Frame Output Stream.vi to send the frame out to the other node(s) and then the CAN Raw Frame Input Stream.vi to read the response back from the node that replies with data.
These examples can all be found in the Frame Sessions folder of the example finder by opening LabVIEW and clicking the following: Help >> Find Examples >> Hardware Input and Output >> CAN >> NI-XNET >> Intro to Sessions >> Frame Sessions folder