I think there's a way to do it with date but the syntax eludes me (other ways welcome).
On *BSD:
date -r 1234567890
On Linux (specifically, with GNU coreutils ≥5.3):
date -d @1234567890
With older versions of GNU date, you can calculate the relative difference to the UTC epoch:
date -d '1970-01-01 UTC + 1234567890 seconds'
If you need portability, you're out of luck. The only time you can format with a POSIX shell command (without doing the calculation yourself) line is the current time. In practice, Perl is often available:
perl -le 'print scalar localtime $ARGV[0]' 1234567890
PHP date()
echo(date("Y-m-d h:i:sa",1234567890));
PHP DateTime
$datetime = new DateTime("@1234567890");
echo $datetime->format('d-m-Y H:i:s');