First, we need to parse the UTF-8 characters in the string in order not to encode the whole string, this code was taken from Dear ImGui with a bit of modifications:
int WideCharFromUtf8(unsigned int* out_char, const char* in_text, const char* in_text_end)
{
    const char lengths[32] = { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 2, 2, 2, 2, 3, 3, 4, 0 };
    const int masks[] = { 0x00, 0x7f, 0x1f, 0x0f, 0x07 };
    const uint32_t mins[] = { 0x400000, 0, 0x80, 0x800, 0x10000 };
    const int shiftc[] = { 0, 18, 12, 6, 0 };
    const int shifte[] = { 0, 6, 4, 2, 0 };
    int len = lengths[*(const unsigned char*)in_text >> 3];
    int wanted = len + (!len ? 1 : 0);
    if (in_text_end == NULL)
        in_text_end = in_text + wanted; // Max length, nulls will be taken into account.
    // Copy at most 'len' bytes, stop copying at 0 or past in_text_end. Branch predictor does a good job here,
    // so it is fast even with excessive branching.
    unsigned char s[4];
    s[0] = in_text + 0 < in_text_end ? in_text[0] : 0;
    s[1] = in_text + 1 < in_text_end ? in_text[1] : 0;
    s[2] = in_text + 2 < in_text_end ? in_text[2] : 0;
    s[3] = in_text + 3 < in_text_end ? in_text[3] : 0;
    // Assume a four-byte character and load four bytes. Unused bits are shifted out.
    *out_char = (uint32_t)(s[0] & masks[len]) << 18;
    *out_char |= (uint32_t)(s[1] & 0x3f) << 12;
    *out_char |= (uint32_t)(s[2] & 0x3f) << 6;
    *out_char |= (uint32_t)(s[3] & 0x3f) << 0;
    *out_char >>= shiftc[len];
    // Accumulate the various error conditions.
    int e = 0;
    e = (*out_char < mins[len]) << 6; // non-canonical encoding
    e |= ((*out_char >> 11) == 0x1b) << 7;  // surrogate half?
    e |= (*out_char > 0x10FFFF) << 8;  // out of range?
    e |= (s[1] & 0xc0) >> 2;
    e |= (s[2] & 0xc0) >> 4;
    e |= (s[3]) >> 6;
    e ^= 0x2a; // top two bits of each tail byte correct?
    e >>= shifte[len];
    if (e)
    {
        // No bytes are consumed when *in_text == 0 || in_text == in_text_end.
        // One byte is consumed in case of invalid first byte of in_text.
        // All available bytes (at most `len` bytes) are consumed on incomplete/invalid second to last bytes.
        // Invalid or incomplete input may consume less bytes than wanted, therefore every byte has to be inspected in s.
        int cmp = !!s[0] + !!s[1] + !!s[2] + !!s[3];
        wanted = wanted < cmp ? wanted : cmp;
        *out_char = 0xFFFD;
    }
    return wanted;
}
Then loop through the string and encode the character if it is UTF-8:
void main()
{
    std::string utf8_string(u8"(#1476710203) éf.pdf");
    std::string result;
    result.reserve(utf8_string.size());
    const char* text_begin = utf8_string.c_str();
    const char* text_end = text_begin + utf8_string.size();
    for (const char* cursor = text_begin; cursor < text_end;)
    {
        unsigned int wide_char = *cursor;
        // this is an ascii char
        if (wide_char < 0x80)
        {
            result.push_back(*cursor);
            cursor += 1;
        }
        // this is an utf-8 char
        else
        {
            size_t utf8_len = WideCharFromUtf8(&wide_char, cursor, text_end);
            if (wide_char == 0) // Malformed UTF-8?
                break;
            result += FormatUtf8(cursor, utf8_len);
            cursor += utf8_len;
        }
    }
    printf("%s\n", result.c_str());
}
And the FormatUtf8 function, converting string to hex string was taken from this answer:
// convert array of char to hex, thanks to this answer https://stackoverflow.com/a/3382894/13253010
std::string FormatUtf8(const char* text, size_t size)
{
    const char hex_digits[] = "0123456789ABCDEF";
    std::string output;
    output.reserve(size * 3);
    for (const char* cursor = text; cursor < text + size; cursor++)
    {
        unsigned char chr = *cursor;
        output.push_back('%');
        output.push_back(hex_digits[chr >> 4]);
        output.push_back(hex_digits[chr & 15]);
    }
    return output;
}
The output:
(#1476710203) %C3%A9f.pdf
This should be enough to solve the problem, as you asked for encoding UTF-8 and not URL, processing the other URL-encoded characters will be too long to put in an answer.