[fuzz] Improve fuzzer build script and docs

[fuzz] Improve fuzzer build script and docs

* Remove the `make libFuzzer` target since it is broken and obsoleted
  by `CC=clang CXX=clang++ ./fuzz.py build all --enable-fuzzer`. The
  new `-fsanitize=fuzzer` is much better because it works with MSAN
  by default.
* Improve the `./fuzz.py gen` command by making the input type explicit
  when creating a new target.
* Update the `README` for `--enable-fuzzer`.

Fixes #1727.