A quick and dirty way would be to use a series of replaceAll(...)
s to format the code like you want it.
To replace the leading and trailing brackets:
message = message.replaceAll("^[|]$", "");
To replace opening brackets with a space:
message = message.replaceAll("\\[", " ");
And to replace closing brackets comma space with newline:
message = message.replaceAll("\\],\\s+", "\n");
It's very possible, even likely, that there exists some tool to format it quicker, but none that come to my mind.
Depending on what you want to do, you may prefer to split
the string to get an array, but it really depends on what you're going to do with it.