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response.setContentType("text/html");
PrintWriter out = response.getWriter();
out.println("Hello World!  This is an AJAX response from a Struts Action.");
out.flush();
return null;

Using a Struts 2 plugin (e.g., JSON plugin, jQuery plugin, etc.) is, in general, preferred to writing the response directly from within an action. See sections following this for further details.

package actions;

import java.io.InputStream;
import java.io.StringBufferInputStream;
import com.opensymphony.xwork2.ActionSupport;

public class TextResult extends ActionSupport  {
    private InputStream inputStream;
    public InputStream getInputStream() {
        return inputStream;
    }

    public String execute() throws Exception {
        inputStream = new ByteArrayInputStream("Hello World! This is a text string response from a Struts 2 Action.".getBytes("UTF-8"));
        return SUCCESS;
    }
}

<action name="text-result" class="actions.TextResult">
    <result type="stream">
        <param name="contentType">text/html</param>
        <param name="inputName">inputStream</param>
    </result>
</action>

<%@ page import="java.util.Iterator,
		 java.util.List,
		 com.esolaria.dojoex.Book,
		 com.esolaria.dojoex.BookManager" %>
<%
	String bookIdStr = request.getParameter("bookId");
	int bookId = (bookIdStr == null || "".equals(bookIdStr.trim())) 
		? 0 : Integer.parseInt(bookIdStr);
	Book book = BookManager.getBook(bookId);
	if (book != null) {
		out.println(book.toJSONString());
		System.out.println("itis: " + book.toJSONString());
	}
%>