On some systems, you may be able to do the same with tr or sed if in the C.UTF-8 locale, not GNU ones AFAICTnot with current versions of GNU tr unless patched by your OS vendor.
$ uname FreeBSD $ echo 'Ab9876543210' | LC_ALL=C.UTF-8 tr $'\u3000\uff01-\uff5e' ' !-~' Ab9876543210 (also assuming a shell with support for zsh's $'\uXXXX').
For the reverse conversion, just change the y/from/to/ to y/to/from/.