What works for me is to change the b64encode line to:

myObj = [base64.b64encode(data).decode('ascii')]

This is explained in https://stackoverflow.com/a/42776711 :

base64 has been intentionally classified as a binary transform.... It was a design decision in Python 3 to force the separation of bytes and text and prohibit implicit transformations.

The accepted answer doesn't work for me (Python 3.9) and gives the error:

Traceback (most recent call last):
  File "/tmp/x.py", line 4, in <module>
    myObj = [base64.b64encode(data)]
  File "/usr/lib64/python3.9/base64.py", line 58, in b64encode
    encoded = binascii.b2a_base64(s, newline=False)
TypeError: a bytes-like object is required, not 'str'

Java 8+

Encode or decode byte arrays:

byte[] encoded = Base64.getEncoder().encode("Hello".getBytes());
println(new String(encoded));   // Outputs "SGVsbG8="

byte[] decoded = Base64.getDecoder().decode(encoded);
println(new String(decoded))    // Outputs "Hello"

Or if you just want the strings:

String encoded = Base64.getEncoder().encodeToString("Hello".getBytes());
println(encoded);   // Outputs "SGVsbG8="

String decoded = new String(Base64.getDecoder().decode(encoded.getBytes()));
println(decoded)    // Outputs "Hello"

For more info, see Base64.

Java < 8

Base64 is not bundled with Java versions less than 8. I recommend using Apache Commons Codec.

For direct byte arrays:

Base64 codec = new Base64();
byte[] encoded = codec.encode("Hello".getBytes());
println(new String(encoded));   // Outputs "SGVsbG8="

byte[] decoded = codec.decode(encoded);
println(new String(decoded))    // Outputs "Hello"

Or if you just want the strings:

Base64 codec = new Base64();
String encoded = codec.encodeBase64String("Hello".getBytes());
println(encoded);   // Outputs "SGVsbG8="

String decoded = new String(codec.decodeBase64(encoded));
println(decoded)    // Outputs "Hello"

Android (with Java < 8)

If you are using the Android SDK before Java 8 then your best option is to use the bundled android.util.Base64.

For direct byte arrays:

byte[] encoded = Base64.encode("Hello".getBytes());
println(new String(encoded))    // Outputs "SGVsbG8="

byte [] decoded = Base64.decode(encoded);
println(new String(decoded))    // Outputs "Hello"

Or if you just want the strings:

String encoded = Base64.encodeToString("Hello".getBytes());
println(encoded);   // Outputs "SGVsbG8="

String decoded = new String(Base64.decode(encoded));
println(decoded)    // Outputs "Hello"

Other: Spring < 6.0.5

If for some reason Java's Base64 isn't suitable and you use Spring, see Base64Utils. This package, however, is deprecated as of 6.0.5 and so I don't recommend.

Byte[] -> String: use system.convert.tobase64string

Convert.ToBase64String(byte[] data)

String -> Byte[]: use system.convert.frombase64string

Convert.FromBase64String(string data)

JavaScript, 177 187 198 characters

function(d){c="";for(a=e=b=0;a<4*d.length/3;f=b>>2*(++a&3)&63,c+=String.fromCharCode(f+71-(f<26?6:f<52?0:f<62?75:f^63?90:87)))a&3^3&&(b=b<<8^d[e++]);for(;a++&3;)c+="=";return c}

For adding linebreaks, \r\n, after each 76th character, add 23 characters to the code:

function(d){c="";for(a=e=b=0;a<4*d.length/3;f=b>>2*(++a&3)&63,c+=String.fromCharCode(f+71-(f<26?6:f<52?0:f<62?75:f^63?90:87))+(75==(a-1)%76?"\r\n":""))a&3^3&&(b=b<<8^d[e++]);for(;a++&3;)c+="=";return c}

Demo code:

var encode = function(d,a,e,b,c,f){c="";for(a=e=b=0;a<4*d.length/3;f=b>>2*(++a&3)&63,c+=String.fromCharCode(f+71-(f<26?6:f<52?0:f<62?75:f^63?90:87))+(75==(a-1)%76?"\r\n":""))a&3^3&&(b=b<<8^d[e++]);for(;a++&3;)c+="=";return c};

//OP test case
console.log(encode([99, 97, 102, 195, 169])); // outputs "Y2Fmw6k=".

//Quote from Hobbes' Leviathan:
console.log(
 encode(
  ("Man is distinguished, not only by his reason, but by this singular passion from " +
   "other animals, which is a lust of the mind, that by a perseverance of delight " +
   "in the continued and indefatigable generation of knowledge, exceeds the short " +
   "vehemence of any carnal pleasure.")
  .split('').map(function(i){return i.charCodeAt(0)})
 )
);

However, I do not know what length I need to have the signature at so when I encode it, it can be that exact size.

Well, base64 uses 4 characters (from an alphabet of size 64) to encode 3 bytes (3 bytes contain 24 bits; 24/4 = 6 bits per base64 character).

Hence, if the signature was 72 bytes long, that would translate to (72/3)*4 = 96 characters you require.

Now, base64 typically has a === trailer to signify the end of the encoding; are you counting that?