quicserver.c: Use BIO_printf to stderr instead of plain printf

quicserver.c: Use BIO_printf to stderr instead of plain printf

Fixes #21623

Also do not build quicserver with no-stdio as it is a test
utility and tests are disabled with no-stdio anyway.

Reviewed-by: Hugo Landau <hlandau@openssl.org>
Reviewed-by: Tom Cosgrove <tom.cosgrove@arm.com>
(Merged from https://github.com/openssl/openssl/pull/21677)