https://people.csail.mit.edu/rivest/pubs/RL96.ver-1.0.pdf
He has it as a hexadecimal length preceded by a pound sign (#), a colon, and the raw octet data.
https://www.ietf.org/archive/id/draft-rivest-sexp-04.html
https://www.ietf.org/archive/id/draft-rivest-sexp-04.html