The subtraction of two timestamp or timestamptz values produces an interval. (While subtracting two date values produces an integer!)
Details about date/time types in the manual.
The default text representation of an interval may be sufficient:
SELECT timestamp '2017-1-6 12:34:56' - timestamp '2017-1-1 0:0';
Result is an interval, displayed as:
5 days 12:34:56
If you need the format in the question, precisely, you need to specify how to deal with intervals >= 24 hours. Add 'days'? Or just increase hours accordingly?
@Nobody provided how to use to_char(). But add days one way or the other:
SELECT to_char(ts_col2 - ts_col1, 'DD" days "HH24" hours "MI" minutes "SS" seconds"');
Result:
05 days 12 hours 34 minutes 56 seconds
'days' covers the rest. There are no greater time units in the result by default.