readr has a function format_tsv(df) that will print a data frame to the console.
mtcars %>% format_tsv()
[1] "mpg\tcyl\tdisp\thp\tdrat\twt\tqsec\tvs\tam\tgear\tcarb\n21\t6\t160\t110\t3.9\t2.62\t16.46\t0\t1\t4\t4\n21\t6\t160\t110\t3.9\t2.875\t17.02\t0\t1\t4\t4\n22.8\t4\t108\t93.................................."
It uses "\t" and "\n" as delimiters, so you may have to split it at "\n":
[You may use either base::strsplit("\\n") or string::str_split("\\n")]
mtcars %>% format_tsv() %>% strsplit("\\n")
[[1]]
[1] "mpg\tcyl\tdisp\thp\tdrat\twt\tqsec\tvs\tam\tgear\tcarb" "21\t6\t160\t110\t3.9\t2.62\t16.46\t0\t1\t4\t4"
[3] "21\t6\t160\t110\t3.9\t2.875\t17.02\t0\t1\t4\t4" "22.8\t4\t108\t93\t3.85\t2.32\t18.61\t1\t1\t4\t1"
..........
If you want the rownames printed as well, you'd have to add a function to make the row names another column, e.g., tibble::rownames_to_column()
mtcars %>% rownames_to_column() %>% format_tsv() %>% strsplit("\\n")
[[1]]
[1] "rowname\tmpg\tcyl\tdisp\thp\tdrat\twt\tqsec\tvs\tam\tgear\tcarb"
[2] "Mazda RX4\t21\t6\t160\t110\t3.9\t2.62\t16.46\t0\t1\t4\t4"
[3] "Mazda RX4 Wag\t21\t6\t160\t110\t3.9\t2.875\t17.02\t0\t1\t4\t4"