In one line:
String niceFormattedJson = JsonWriter.formatJson(jsonString)
or
System.out.println(JsonWriter.formatJson(jsonString.toString()));
The json-io libray (https://github.com/jdereg/json-io) is a small (75K) library with no other dependencies than the JDK.
In addition to pretty-printing JSON, you can serialize Java objects (entire Java object graphs with cycles) to JSON, as well as read them in.