Launch this in the folder: it should copy them as you wish and remove the last 6 characters of the filename.
Filenames with !
in them will generate an error.
@echo off
setlocal enabledelayedexpansion
for /f "delims=" %%a in ('dir *.txt /b /a-d ') do (
set "name=%%~na"
copy "%%a" "C:\FolderB\!name:~0,-6!%%~xa"
)