INSERT INTO B
(Col1, Col2, Col3, ColN)
SELECT
A.Col1, A.Col2, A.Col3, COlN
FROM A
LEFT JOIN B
ON A.COL1 = B.Col1
AND A.COL2 = B.Col2
AND A.COL3 = B.Col3
WHERE B.Col1 IS NULL
Essentially Join the 2 tables with a left join, and insert all from A where B is null (No corresponding value in B table for a Join on the 3 Key columns)