For printing out hex values, you can use std::hex format; for setting width and fill character, use std::setw and std::setfill, which are part of <iomanip>.
As you do not show the data type of c, I suppose/suggest to use an unsigned integral type, e.g. unsigned char. I slightly adapted the code to make it self contained):
#define SHA256_DIGEST_LENGTH 256
#include <iostream>
#include <sstream>
#include <iomanip>
int main() {
unsigned char c[SHA256_DIGEST_LENGTH];
for (unsigned int i=0; i<SHA256_DIGEST_LENGTH; i++)
c[i]=i;
std::stringstream ss;
for(int i = 0; i < SHA256_DIGEST_LENGTH; i++) {
ss << std::hex << std::setw(2) << std::setfill('0') << (unsigned int)c[i];
}
std::cout << ss.str();
}
Output:
000102030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f202122232425262728292a2b2c2d2e2f303132333435363738393a3b3c3d3e3f404142434445464748494a4b4c4d4e4f505152535455565758595a5b5c5d5e5f606162636465666768696a6b6c6d6e6f707172737475767778797a7b7c7d7e7f808182838485868788898a8b8c8d8e8f909192939495969798999a9b9c9d9e9fa0a1a2a3a4a5a6a7a8a9aaabacadaeafb0b1b2b3b4b5b6b7b8b9babbbcbdbebfc0c1c2c3c4c5c6c7c8c9cacbcccdcecfd0d1d2d3d4d5d6d7d8d9dadbdcdddedfe0e1e2e3e4e5e6e7e8e9eaebecedeeeff0f1f2f3f4f5f6f7f8f9fafbfcfdfeff
printf, there'ssprintf. If you like iostreams, there's stringstream.