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This will print the offset and bytes in hex:

cmp -l file1.bin file2.bin | gawk '{printf "%08X %02X %02X\n", $1, strtonum(0$2), strtonum(0$3)}'

Or do $1-1 to have the first printed offset start at 0.

cmp -l file1.bin file2.bin | gawk '{printf "%08X %02X %02X\n", $1-1, strtonum(0$2), strtonum(0$3)}'

Unfortunately, strtonum() is specific to GAWK, so for other versions of awk—e.g., mawk—you will need to use an octal-to-decimal conversion function. For example,

cmp -l file1.bin file2.bin | mawk 'function oct2dec(oct,     dec) {for (i = 1; i <= length(oct); i++) {dec *= 8; dec += substr(oct, i, 1)}; return dec} {printf "%08X %02X %02X\n", $1, oct2dec($2), oct2dec($3)}'

Broken out for readability:

cmp -l file1.bin file2.bin |
    mawk 'function oct2dec(oct, dec) {
              for (i = 1; i <= length(oct); i++) {
                  dec *= 8;
                  dec += substr(oct, i, 1)
              };
              return dec
          }
          {
              printf "%08X %02X %02X\n", $1, oct2dec($2), oct2dec($3)
          }'