Filtering out non-readable characters

[MKoool]

I have a file with binary and ascii characters in it.  I massage the
data and convert it to a more readable format, however it still comes
up with some binary characters mixed in.  I'd like to write something
to just replace all non-printable characters with '' (I want to delete
non-printable characters).

I am having trouble figuring out an easy python way to do this... is
the easiest way to just write some regular expression that does
something like replace [^\p] with ''?

Or is it better to go through every character and do ord(character),
check the ascii values?

What's the easiest way to do something like this?

thanks