The representation of binary data in a compact, printable, efficient, and often human-readable format is essential in numerous computing applications, mainly driven by the limitations of systems and communication protocols not designed to handle arbitrary 8-bit binary data. This paper provides a comprehensive survey and an extensive characterization of printable encoding schemes, tracing their evolution from historical methods to contemporary solutions for representing, storing, and transmitting binary data using restricted character sets. The review includes a foundational analysis of fundamental character encodings, proposes a layered model for the classification of printable encodings, and examines various schemes based on their numerical bases, alphabets, and functional characteristics. Algorithms, key design trade-offs, the impact of relevant standards, security implications, performance considerations, and human factors are systematically discussed, aiming to offer a detailed understanding of the current context and open challenges.