How to print all printable ASCII chars in CLI?

You can do:

man ascii

to see the whole set of ascii characters, or you can just run the command ascii.

$ ascii
Usage: ascii [-dxohv] [-t] [char-alias...]
   -t = one-line output  -d = Decimal table  -o = octal table  -x = hex table
   -h = This help screen -v = version information
Prints all aliases of an ASCII character. Args may be chars, C \-escapes,
English names, ^-escapes, ASCII mnemonics, or numerics in decimal/octal/hex.

Dec Hex    Dec Hex    Dec Hex  Dec Hex  Dec Hex  Dec Hex   Dec Hex   Dec Hex  
  0 00 NUL  16 10 DLE  32 20    48 30 0  64 40 @  80 50 P   96 60 `  112 70 p
  1 01 SOH  17 11 DC1  33 21 !  49 31 1  65 41 A  81 51 Q   97 61 a  113 71 q
  2 02 STX  18 12 DC2  34 22 "  50 32 2  66 42 B  82 52 R   98 62 b  114 72 r
  3 03 ETX  19 13 DC3  35 23 #  51 33 3  67 43 C  83 53 S   99 63 c  115 73 s
  4 04 EOT  20 14 DC4  36 24 $  52 34 4  68 44 D  84 54 T  100 64 d  116 74 t
  5 05 ENQ  21 15 NAK  37 25 %  53 35 5  69 45 E  85 55 U  101 65 e  117 75 u
  6 06 ACK  22 16 SYN  38 26 &  54 36 6  70 46 F  86 56 V  102 66 f  118 76 v
  7 07 BEL  23 17 ETB  39 27 '  55 37 7  71 47 G  87 57 W  103 67 g  119 77 w
  8 08 BS   24 18 CAN  40 28 (  56 38 8  72 48 H  88 58 X  104 68 h  120 78 x
  9 09 HT   25 19 EM   41 29 )  57 39 9  73 49 I  89 59 Y  105 69 i  121 79 y
 10 0A LF   26 1A SUB  42 2A *  58 3A :  74 4A J  90 5A Z  106 6A j  122 7A z
 11 0B VT   27 1B ESC  43 2B +  59 3B ;  75 4B K  91 5B [  107 6B k  123 7B {
 12 0C FF   28 1C FS   44 2C ,  60 3C <  76 4C L  92 5C \  108 6C l  124 7C |
 13 0D CR   29 1D GS   45 2D -  61 3D =  77 4D M  93 5D ]  109 6D m  125 7D }
 14 0E SO   30 1E RS   46 2E .  62 3E >  78 4E N  94 5E ^  110 6E n  126 7E ~
 15 0F SI   31 1F US   47 2F /  63 3F ?  79 4F O  95 5F _  111 6F o  127 7F DEL

Try with printf and a shell like ksh93, zsh or bash:

for ((i=32;i<127;i++)) do printf "\\$(printf %03o "$i")"; done;printf "\n"

See also : BASH FAQ

More an awk solution that a (pure) shell one but here it is anyway:

awk 'BEGIN{for(i=32;i<127;i++)printf "%c",i; print}'