This is a classical cross-product construction, originally published
by Bar-Hillel, Perles and Shamir (1961) in On formal properties of
simple phrase structure grammars.
It can be found in most elementary
books on automata theory. (the reference to the initial paper appears in the paper suggested by @Jurij, which I could not access as I wrote this answer).
Actually, it can be done with any CF grammar, no normal form being
required (but ... see below). On the FSA side, any recognizing
finite-state automaton will do, including non-deterministic.
The complexity is $O(n^{p+1})$ for both the construction time and the
size of the resulting grammar, where $n$ is the number of states of the
automaton and $p$ is the length of the longest rule right-hand side of
the grammar.
Hence, reducing the grammar in Chomsky normal form (CNF) will give $n=2$ and
allow for cubic time and space (and result size) complexity. More precisely, some of the constraints of CNF are not even needed. It is enough to put it in 2-form, by introducing new non-terminal so that no right-hand side containt more than 2 symbols.
The size of the resulting grammar can be
further reduced by minimizing the finite automaton.
Minimizing a DFA has a time complexity $O(ns \ log\ n)$, where $n$ is
the number of states and $s$ is the size of the alphabet. However
the cost is much higher for a NDFA, as it is $O(2^n)$. There is no
escape from that if you have a NDFA to begin with, since this high
cost is needed for determinizing the NDFA which requires a powerset construction on the set of states.