/Library/Receipts directory and the lsbom utility. An applications that follows Mac standards will leave a record of what was installed in the /Library/Receipts/app-name directory.
Within that directory, there should be a Contents subdirectory, and inside that, an Archive.bom file. The .bom file is a "bill of materials" with a list of all the files that belong to that application, the full path to their location, and other details like the UNIX permissions, file size, and checksum.
However, the bill of materials is a binary file. To extract information from it, use the list bill of materials command line utility, lsbom.
To list all files and related information in a BOM file:
lsbom BOMfile
To list only the files without related information in a BOM file:
lsbom -s BOMfile