ググるといろいろやり方はあるようだが一番簡単なのはこれではなかろうか。
(require 'url-util)
(url-hexify-string "やっほー") ;; => %e3%82%84%e3%81%a3%e3%81%bb%e3%83%bc
ただし 'utf-8 限定。
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