The BAM file format is not a text-based format. It has a specific binary structure, specified in reasonable detail in the SAM file format specification. Whenever this information is displayed on a screen as text, it needs to be converted from the binary format to a text format, which takes a bit of time and processing power.
As this question suggests, if only a specific field from alignments is needed (or fields), then it will probably be better to extract just those fields and do any necessary conversion only on those fields. While this can be done by writing a BAM parser from scratch, many developers have already written software libraries to process BAM files in this way.
Devon Ryan has suggested htslib, which is a C library written by a group that includes the people who wrote the SAM/BAM/CRAM file format specifications. There's also pysam, which is a python wrapper around htslib.
The particular tool that is used will depend on your familiarity with programming and the specific thing that you want to do. If you just want to "output a BAM file", then cat is the quickest:
... but you probably don't want to do that, because it seems like you want to process a text-based representation with a script. Because you haven't specified which fields you are interested in, it's not possible to suggest the best thing to use. In the end, I expect that an "efficient" solution to your problem would involve
htslib in some form. This is not really hacking samtools, it's using the backend of samtools to process BAM data.
However, it's useful to also think about the time cost of coding. What application do you have which means that the text-based processing method is not sufficient? It takes time to write code, and a lot more time to debug that code to make sure it's doing the right thing in all situations. If this is for a one-off thing, then
samtools view output fed into your script may be the quickest solution.