It takes a lot of work to bake cookies. You should not waste all the efforts and time baking by rushing the final and important step of cooling them.
How long it will take to remove the cookies from the baking pan to the cooling rack will depend on how you want your cookies to be. They can either be chewy or crispy.
For chewy cookies, let them cool on the baking pan for 3 to 5 minutes before transferring them. If you want crispier cookies, it will only take a minute before you have to move them to the cooling rack.
Cookies should be completely cool to the touch before you can remove them from the cooling rack.