Not so hard as you expected. Try this:
global $wpdb;
$sql = "SELECT post_title, meta_value
FROM $wpdb->posts a
JOIN $wpdb->postmeta b ON a.ID = b.post_id
WHERE a.post_type="page"
AND a.post_status="publish"
AND b.meta_key = '_wp_page_template'
";
$pages = $wpdb->get_results($sql);
echo '<pre>';
print_r($pages);
echo '</pre>';
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