No, you cant display: byte ip[] = { 192, 168, 14, 85} out of the box.
This is an array of 4 bytes. To make them human readable, you have to translate them to characters.
The Serial.print() function knows how to translate most simple variables to characters, i.e. byte, int, float, char, etc.
The most simple solution - already mentioned - is to store the IP address 2 times, one time as a byte array for the code and one time as a char array (i.e. string) for humans.
Another way is to write a function which translates the byte array to a string.
PaulS has shown you even another way.