It mostly depends on your setup. If you're using XeLaTeX or LuaLaTeX and fontspec it all boils down to
\newfontfamily{\lowasciifont}{Free Sans}
\newcommand{\lowascii}[1]{{\lowasciifont\char\string"#1}}
in the preamble and \lowascii{2400} and so on in the document. Example:
\documentclass{article}
\usepackage{fontspec}
\newfontfamily{\lowasciifont}{Free Sans}
\newcommand{\lowascii}[1]{{\lowasciifont\char\string"#1}}
\begin{document}
\lowascii{2400} \lowascii{2401}
\end{document}

Without XeLaTeX or LuaLaTeX I don't know of any font that has those symbols. One might conceive to create suitable Type1 fonts from FreeSans, but it's quite a job and probably its easier to fake those symbols with some low level trick.
Here's an example:
\usepackage{lmodern}
\newcommand{\lowascii}[1]{\innerlowascii#1\relax}
\def\innerlowascii#1#2#3\relax{%
$\vcenter{
\fontsize{4}{4}\sffamily
\offinterlineskip
\kern-1.2ex
\sbox0{#1}\dimen0=\wd0 \box0
\sbox0{#2}\moveright\dimen0\copy0 \advance\dimen0\wd0
\if\relax\detokenize{#3}\relax\else\moveright\dimen0\hbox{#3}\fi}$}
In the text you can say
A \lowascii{NUL} \lowascii{LF} B
and get
