You can include the number sign in the format string by specifying +in the format specifier. For example,
System.out.printf("Equation: %.5fx^2 %+.5fx %+.5f = 0.00000%n", 1.0, -2.0, 3.0);
Prints Equation: 1.00000x^2 -2.00000x +3.00000 = 0.00000
If you need the right spacing (for example 1.0 - 2.0 + 3.0), you can instead have the character as a separate character, which you set based on the number sign.
Example:
float qCoeff = 1.0f, lCoeff = -2.0f, constant = 3.0f;
char lSign = lCoeff < 0 ? '-' : '+';
char constSign = constant < 0 ? '-' : '+';
System.out.printf("Equation: %.5fx^2 %c %.5fx %c %.5f = 0.00000%n",
qCoeff, lSign, Math.abs(lCoeff), constSign, Math.abs(constant));
prints Equation: 1.00000x^2 - 2.00000x + 3.00000 = 0.00000
(Math.abs() , , , 1.0 - -2.0)