We study nonequilibrium transport in various open quantum systems whose systems and leads/baths are made of topological superconductors (TSs), semiconductors, and metals. Using quantum Langevin equations and Green's function method, we derive exact expressions for steady-state electrical, thermal, and spin current at the junctions between a system and leads. We validate these current expressions by comparing them with the results from direct time-evolution simulations. We then show how an electrical current injected in TS wires divides into two parts carried by single electronic excitations and Cooper pairs. We further show ballistic thermal transport in an open TS wire in the topological phase under temperature or voltage bias. The thermal current values grow significantly near the topological phase transition, where thermal conductance displays a sharp quantized peak as predicted earlier. We relate the quantized thermal conductance to the zero-frequency thermoelectric transmission coefficient of the open TS wire. We also observe a large thermoelectric current near the topological transition of the TS wires. The role of superconducting baths in transport is demonstrated by thoroughly examining the features of zero-temperature differential electrical conductance and thermal conductance in open systems with TS baths.