How to print the data in byte array as characters?

Well if you're happy printing it in decimal, you could just make it positive by masking:

int positive = bytes[i] & 0xff;

If you're printing out a hash though, it would be more conventional to use hex. There are plenty of other questions on Stack Overflow addressing converting binary data to a hex string in Java.

If you want to print the bytes as chars you can use the String constructor.

byte[] bytes = new byte[] { -1, -128, 1, 127 };
System.out.println(new String(bytes, 0));

How about Arrays.toString(byteArray)?

Here's some compilable code:

byte[] byteArray = new byte[] { -1, -128, 1, 127 };
System.out.println(Arrays.toString(byteArray));

Output:

[-1, -128, 1, 127]

Why re-invent the wheel...