doc: remove `Returns: {undefined}`

Removed * Returns: {undefined} in doc/ to prevent confusing users

PR-URL: https://github.com/nodejs/node/pull/18951


Reviewed-By: Michaël Zasso <targos@protonmail.com>
Reviewed-By: Vse Mozhet Byt <vsemozhetbyt@gmail.com>
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: Ruben Bridgewater <ruben@bridgewater.de>
Reviewed-By: Tobias Nießen <tniessen@tnie.de>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Tiancheng "Timothy" Gu <timothygu99@gmail.com>
Reviewed-By: Benjamin Gruenbaum <benjamingr@gmail.com>