My situation is my project uses a legacy (non-JSR) JSON parser that does not support pretty printing. However, I needed to produce pretty-printed JSON samples; this is possible without having to add any extra libraries as long as you are using Java 7 and above:
ScriptEngineManager manager = new ScriptEngineManager();
ScriptEngine scriptEngine = manager.getEngineByName("JavaScript");
scriptEngine.put("jsonString", jsonStringNoWhitespace);
scriptEngine.eval("result = JSON.stringify(JSON.parse(jsonString), null, 2)");
String prettyPrintedJson = (String) scriptEngine.get("result");