How to import/export data from/to an ASCII file?

For example

create table testTable (
id integer,
name char(20)
);

an ASCII file format with field separator "|" is

1|Hello|
2|Again|
......

There is a way to do this in Oracle, Sybase, Informix and MySQL.
But I want to know how to do this in PostgreSQL.

Please don't tell me use pg_dump, because it is not a correct answer for

my question!

Thank you!