Retrieve paired Bluetooth devices from console

I found a solution myself. In Linux, the friendly names with their according mac adresses are saved in the file:

/var/bluetooth/{MAC-of-local-Bluetooth-device}/names

It should be easy enough to read it out with a shell script or the programming language of your choice.

Late to the party, I tried listing as suggested by @panmari and @MarkCh but I was getting some unknown mac addresses (on a C.H.I.P with Debian), so I used the following command:

 bt-device -l 

It will return both friendly name and Mac of all paired devices.

Install bluez-utils, run bluetoothctl paired-devices. See bluetoothctl --help for more useful commands.