text: Title: Improve falcon-print-routes tool
  Body: `falcon-print-routes` is a simple (albeit somewhat spartan) tool that may come handy to list API routes.
  We could polish it, and expose more widely:
  * Advertise it in the documentation (currently it is only mentioned in the `1.1.0` changelog)
  * Make it aware of route suffixes, a new feature in 2.0
  * Expose interface to be able to list routes programmatically (suggested by @CaselIT )
  * Make it clear that the tool only works with the standard `CompiledRouter` (suggested by @CaselIT )
  * Anything else? (suggestions welcome!)