Convert one-and-zero binary to text in the command line?

I would like to convert binary, represented as a string of ones and zeros, to its text representation, e.g, "01001000 01100101 01101100 01101100 01101111 00100000 01010111 01101111 01110010 01101100 01100100 00100001" should output "Hello World!". Is it possible to do that quickly in the command line, using existing command line tools instead of relying on external websites?

All the answers I have found online so far have been answers to the wrong question, e.g, showing how to convert binary represented in hexidecimal to text. I am trying to convert binary represented in ones and zeros to text, not hex to text, as it would be rather annoying to manually have to convert everything to hex first.