insert into site_crawl (site_id) values (select site_id from site);
So basically: there is no specific for/each in plain SQL, you handle tables and rows of results always as one statement.
So you could also say: there is no way an SQL Statement is something else than a for/each.
With that knowledge, you can see that the above query will insert one row into site_crawl for every site_id in the site table. You most likely want to use more values than this, but given the information from your question that is all I can do for you :)
Also: you want to read more about what sql is and how its used.
Have fun, SQL is a lot of fun!