Deep in the Code

Though you can generate INSERT statements using SQL Server Management Services if the Generate Scripts functionality is enabled, this script may help in cases when it is not.

USE DatabaseName
GO
SET NOCOUNT ON

DECLARE @TableName VARCHAR(255)
DECLARE @IndividualInserts BIT

SET @TableName = 'TableName'
SET @IndividualInserts = 0

DECLARE @TableStructure TABLE (ColumnName VARCHAR(255), DataType VARCHAR(50), [MaxLength] INT, [precision] INT, [scale] INT, is_nullable BIT, PrimaryKey BIT, ColumnID INT)
DECLARE @ColumnName VARCHAR(255)
DECLARE @DataType VARCHAR(50)
DECLARE @MaxLength INT
DECLARE @precision INT
DECLARE @scale INT
DECLARE @is_nullable BIT
DECLARE @PrimaryKey BIT
DECLARE @ColumnID INT
DECLARE @SelectQuery VARCHAR(MAX) = ''
DECLARE @ResultQuery VARCHAR(MAX) = ''
DECLARE @SQL NVARCHAR(MAX) = ''
DECLARE @CrLf VARCHAR(10) = CHAR(13) + CHAR(10)

INSERT INTO @TableStructure
SELECT 
    c.name 'Column Name',
    t.Name 'Data type',
    c.max_length 'Max Length',
    c.precision ,
    c.scale ,
    c.is_nullable,
    ISNULL(i.is_primary_key, 0) 'Primary Key',
	c.column_id
FROM    
    sys.columns c
INNER JOIN 
    sys.types t ON c.user_type_id = t.user_type_id
LEFT OUTER JOIN 
    sys.index_columns ic ON ic.object_id = c.object_id AND ic.column_id = c.column_id
LEFT OUTER JOIN 
    sys.indexes i ON ic.object_id = i.object_id AND ic.index_id = i.index_id
WHERE
    c.object_id = OBJECT_ID(@TableName) 
ORDER BY c.column_id

--SELECT * FROM @TableStructure

DECLARE TableCursor CURSOR FOR
SELECT * FROM @TableStructure 
ORDER BY ColumnID


OPEN TableCursor
FETCH NEXT FROM TableCursor INTO @ColumnName, @DataType, @MaxLength, @precision, @scale, @is_nullable, @PrimaryKey, @ColumnID
WHILE @@FETCH_STATUS = 0
BEGIN
	--SELECT @ColumnName, @DataType, @MaxLength, @precision, @scale, @is_nullable, @PrimaryKey, @ColumnID
	SET @ColumnName = '[' + @ColumnName + ']'
	IF LEN(@SelectQuery)=0 SET @SelectQuery='SELECT' + @CrLf + '''INSERT INTO ' + @TableName + ' (' 
	ELSE SET @SelectQuery = @SelectQuery + ',' --@CrLf + ',' 
	SET @SelectQuery = @SelectQuery + @ColumnName -- + '   -- ' + @DataType

	IF LEN(@ResultQuery)=0 
	BEGIN
		IF @IndividualInserts=0 SET @ResultQuery = 'UNION ALL SELECT CASE WHEN ROW_NUMBER() OVER(ORDER BY ' + @ColumnName + ') <> 1 THEN '','' ELSE '''' END +' + @CrLf + '''('
		ELSE SET @ResultQuery= @CrLf + '(' 
	END
	ELSE SET @ResultQuery = @ResultQuery + ','
	SELECT @ResultQuery = 
	CASE
		WHEN @DataType LIKE '%CHAR' 
		THEN @ResultQuery + '''+ COALESCE('''''''' + ' + @ColumnName + ' + '''''''',''NULL'') +'''
		WHEN @DataType LIKE '%DATETIME' 
		THEN @ResultQuery + '''+ COALESCE(''CONVERT(DATETIME,'''''' + CONVERT(VARCHAR,' + @ColumnName + ',21) + '''''',21)'',''NULL'') +'''		
		WHEN @DataType LIKE 'NUMERIC%' 
		THEN @ResultQuery + '''+ COALESCE(CONVERT(VARCHAR,' + @ColumnName + '),''NULL'') +'''
		WHEN @DataType = 'TEXT' 
		THEN @ResultQuery + '''+ COALESCE('''''''' + CONVERT(VARCHAR,' + @ColumnName + ') + '''''''',''NULL'') +'''
		WHEN @DataType LIKE '%INT' 
		THEN @ResultQuery + '''+ COALESCE(CONVERT(VARCHAR,' + @ColumnName + '),''NULL'') +'''
		WHEN @DataType = 'FLOAT' 
		THEN @ResultQuery + '''+ COALESCE(CONVERT(VARCHAR,' + @ColumnName + '),''NULL'') +'''
		ELSE @ResultQuery + '''+ COALESCE(' + @ColumnName + ',''NULL'') +'''
	END
	--SET @ResultQuery = @ResultQuery + '   -- ' + @DataType	
	
	FETCH NEXT FROM TableCursor INTO @ColumnName, @DataType, @MaxLength, @precision, @scale, @is_nullable, @PrimaryKey, @ColumnID
END
CLOSE TableCursor
DEALLOCATE TableCursor

SET @SelectQuery = @SelectQuery + ') VALUES' 
IF @IndividualInserts=0 SET @SelectQuery = @SelectQuery + ''''
SET @ResultQuery = @ResultQuery + ')'' FROM ' + @TableName + ';'

SET @SQL = @SelectQuery + @ResultQuery

--SELECT @SelectQuery
--SELECT @ResultQuery

--SELECT @SQL

--PRINT @SelectQuery 
--PRINT @ResultQuery
EXEC sp_executesql @SQL

This script may not work in every single case, as there are data types not accounted for here.