Either:

public static string ByteArrayToString(byte[] ba)
{
  StringBuilder hex = new StringBuilder(ba.Length * 2);
  foreach (byte b in ba)
    hex.AppendFormat("{0:x2}", b);
  return hex.ToString();
}

or:

public static string ByteArrayToString(byte[] ba)
{
  return BitConverter.ToString(ba).Replace("-","");
}

There are even more variants of doing it, for example here.

The reverse conversion would go like this:

public static byte[] StringToByteArray(String hex)
{
  int NumberChars = hex.Length;
  byte[] bytes = new byte[NumberChars / 2];
  for (int i = 0; i < NumberChars; i += 2)
    bytes[i / 2] = Convert.ToByte(hex.Substring(i, 2), 16);
  return bytes;
}

Using Substring is the best option in combination with Convert.ToByte. See this answer for more information. If you need better performance, you must avoid Convert.ToByte before you can drop SubString.