You can ask your dealer, they have access to the BMW system with a record of whatever has been done and reported in that BMW system (warranty and otherwise). That won't show services done by an independent garage, but it is the most complete list.

Due to consumer privacy rules, dealers will generally tell you that you can't get the above. It violates the privacy of the previous owner. However, if you are friendly with a service advisor you can sometimes get a summary of what was done.

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2007 X3 3.0si, 6 MT, Premium, White

Retired:
2008 535i, 6 MT, M Sport, Premium, Space Grey
2003 X5 3.0 Steptronic, Premium, Titanium Silver
2002 325xi 5 MT, Steel Grey
2004 Z4 3.0 Premium, Sport, SMG, Maldives Blue