Getting a 2-D matrix from a 3-D matrix of indexes

Anyone know of a procedure that does the following:

Say I have a 3D matrix I will call A.

I also have a 3D matrix of indexes into that matrix called B.

I need to extract the values (a plane) of Matrix A using the
coordinates in Matrix B into a 2D Matrix C.

I hope I'm explaining this well enough!
.

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