Rasa: handle printing in non-utf-8 shells

[erohmensing]

We should make sure that when we print things to the console (rasa init), interactive learning, etc., any ascii characters out of normal, like accents or emojis, are handled correctly so that they don't break the method

cc https://forum.rasa.com/t/unicodeencodeerror-ascii-codec-cant-encode-character-u0001f916-in-position-22-ordinal-not-in-range-128/9478, maybe also https://github.com/RasaHQ/rasa/issues/3088

Other codecs I've run into: ascii, gcb, charmap

[erohmensing]

@tmbo I think this should be handled soon, as it has shown to break rasa init here and here

[erohmensing]

Current fix from user side: instead of running rasa {command}, run PYTHONIOENCODING='utf8' rasa {command}.

[erohmensing]

We also need to make sure input (e.g. reading NLU files) is read correctly

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