Define
$$\iota: G\rtimes H \rightarrow G \times H$$
$$(g,h) \mapsto (g\cdot f(h), h)$$
It's easy to verify $\iota$ is a bijection.
To show $\iota$ is a homomorphism, it suffices to show both $\iota_1(g,h) = g\cdot f(h)$ and $\iota_2(g,h) = h$ are homomorphisms from $G\rtimes H$ to $G$ and $H$ separately.
By definition, we have in the semidirect product $G\rtimes H$, $$(g_1, h_1)*(g_2, h_2)=(g_1\phi_{f(h_1)}(g_2), h_1h_2)=(g_1 f(h_1)\cdot g_2 f(h_1)^{-1}, h_1h_2)$$
From this, $\iota_2$ is clearly a homomorphism, and to check $\iota_1$ is a homomorphism:
$$\iota_1(g_1,h_1)\cdot \iota_1(g_2,h_2) = g_1f(h_1) \cdot g_2 f(h_2)$$
while
$$\iota_1((g_1, h_1)*(g_2, h_2)) = g_1 f(h_1)\cdot g_2 f(h_1)^{-1}\cdot f(h_1h_2) = g_1 f(h_1)\cdot g_2 f(h_2) $$