And you see the difference to print ASCII text in the print statement?
The byte array is already a C string if it has a NULL byte at the end. NULL is zero.
Here are the C string library commands Arduino has:
http://www.nongnu.org/avr-libc/user-manual/group__avr__string.html
The main page that is on has all the standard libraries for AVR GCC:
http://www.nongnu.org/avr-libc/user-manual/modules.html
There are many sites with C/C++ instruction, how-to's and examples on the net but beware that Arduino environment is very small and not suited to some approaches, especially those involving creating and deleting code objects (sometimes you don't know that's what's happening, C++ String objects for example automatically do it with -every- change in string length) and re-entrant code is ram-heavy as well.