I know that for every $p\in\mathbb{R}^n$ the map \begin{align} \Phi_p\colon\mathbb{R}^n&\to T_p\mathbb{R}^n\\ v&\mapsto D_{v,p} \end{align} is an isomorphism, where \begin{align} D_{v,p}\colon C^{\infty}(\mathbb{R}^n,\mathbb{R})&\to\mathbb{R}\\ f&\mapsto D_{v,p}f \end{align} is the directional derivative.
But is there an explicit formula for ${\Phi_p}^{-1}(v)$ for a given $v\in T_p\mathbb{R}^n$?
Yes, there is: \begin{align} {\Phi_p}^{-1}(v)=e_iv(e^i), \end{align}
where $(e_1,\dots,e_n)$ is the standard basis of $\mathbb{R}^n$ and $(e^1,\dots,e^n)$ is the dual basis.
The proof (which involves Taylor's theorem) is part of the proof of Proposition 3.2 in John Lee's book "Introduction to smooth manifolds".