How can I see the output from the compiler of from the custom build steps (pre-action or post-action)?
EDIT: as pointed out in the comment below this answer only works for Build phase scripts, not pre action and post action scripts.
In Xcode 8 you need need to select your latest build in "Navigator -> Report Navigator". In the main area you will be able to see the complete build log including your output.
Here is a simple "Hello world" echo