doc: add documentation for url.format(URL[, options]);

PR-URL: https://github.com/nodejs/node/pull/10857


Reviewed-By: Joyee Cheung <joyeec9h3@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Timothy Gu <timothygu99@gmail.com>
Reviewed-By: Brian White <mscdex@mscdex.net>