src: use custom fprintf alike to write errors to stderr

src: add C++-style sprintf utility

Add an utility that handles C++-style strings and objects well.

src: use custom fprintf alike to write errors to stderr

This allows printing errors that contain nul characters, for example.

Fixes: https://github.com/nodejs/node/issues/28761 Fixes: https://github.com/nodejs/node/issues/31218

Checklist

• make -j4 test (UNIX), or vcbuild test (Windows) passes
• tests and/or benchmarks are included
• commit message follows commit guidelines