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There are some standard formats / systems you can use, like Protocol Buffers or Flat Buffers if you want a binary format, or JSON, XML, or YAML if you want a text format. Or you can design your own format (which is not hard at all, it's just work). Some engines support multiple formats. For example, Unity uses a text format (YAML) for scenes and prefabs when you are editing the game, and then converts it to a binary format when you build the game.
There are some standard formats / systems you can use, like Protocol Buffers or Flat Buffers if you want a binary format, or JSON, XML, or YAML if you want a text format. Or you can design your own format (which is not hard at all, it's just work). Some engines support multiple formats. For example, Unity uses a text format (YAML) for scenes and prefabs when you are editing the game, and then converts it to a binary format when you build the game.