You ask:
What is it to write something "formally"?
In broad strokes, it means to use symbolic language, generally in the format of a formal system and is often associated with formal semantics. Formal semantics has been done in bits and pieces in logic and mathematics for hundreds of years, but with the emergence of computers which are built on the abstraction of a chip's instruction set and at a higher level programming languages, formal systems of all sorts are increasingly rendered into languages that express a programming language semantics. So, consider "writing formally" to mean both the use of symbols to represent ideas in the broad sense (such as formal logic) and in the narrow sense to mean the encoding of any formal system in a computer-based formal language. From WP's article on linguistic formal semantics:
Formal semantics is the scientific study of linguistic meaning through formal tools from logic and mathematics. It is an interdisciplinary field, sometimes regarded as a subfield of both linguistics and philosophy of language. Formal semanticists rely on diverse methods to analyze natural language. Many examine the meaning of a sentence by studying the circumstances in which it would be true. They describe these circumstances using abstract mathematical models to represent entities and their features. The principle of compositionality helps them link the meaning of expressions to abstract objects in these models. This principle asserts that the meaning of a compound expression is determined by the meanings of its parts.
This use of highly precise symbolic language with well-formed formulas is often attributed to Gottlob Frege, though George Boole and others were busy attempting to mathematize the symbolization of logic before him. This transition of symbols or formalisms began arguably when people began using number systems to represent quantities and algebraic and geometric notations were invented to teach mathematics. One notable development in formal semantics was analytic geometry which began using arithmetic symbols to represent geometric shapes, and by the time of Tarski, and others mathematical logic had developed its own language of model theory which requires formalizations such as a language L, a theory T, and a model M such that M⊨T.
Therefore, syntax and semantics of formal theories roughly developed in the order of number systems, arithmetic and geometry, algebra, logic, and ultimately computer science and linguistics. Turing, Church, and Kleene were of course highly skilled logicians when they began formulating formal systems for computations of effective computability. And by the time of Zellig Harris and Noam Chomsky, linguists entered into the formalization game by providing syntactic analysis and at first tentative semantic analysis as part of their research in the human capacity for language. One might see the formal languages of Richard Montague and Barbara Partee as reaching the widest sense of formal semantics with a thrust to integrate different formal systems under one roof. In my own research and experimentation related to Thierry Coquand's colleague Aarne Ranta's Grammatical Framework, his Type-theoretical Grammar takes a particular implementation of logic, intuitionist type theory (SEP), and advances type-theoretic semantics through the introduction of additional grammatical formalisms. But his is one of countless what might be termed "higher-order formalisms". Theorem-provers such as CoQ, which has been renamed Rocq, is just another example of translating one formal semantics into another.
You ask:
Per that book, the authors seem to identify formalization in part with a translation into a computer proof system, like COQ [sic]. But didn't we talk of formalization before modern digital computing and proof systems? Is formalization a vague property of a system?
So, it can be shown clearly that formalization of syntax and semantics is a process that goes back to the advent of writing systems itself, and probably achieved a certain recognition of fame and success beginning with Frege, advancing through Hilbert, and arriving Tarski with proofs and models and the pluralization of logics. After all, the Curry-Howard correspondence was recognized in the mid-30's and continued to develop over the next few decades demonstrating isomorphisms between logic and programming. But today, it's fair to say that many logicians and mathematicians have recognized the value of using programming language semantics to achieve their ends, and they now build systems on top of systems (on top of systems) of formalisms to automate the systems dear to them. So, it's fair to use "formalization" in both a broad and various narrow senses both as, for example, to "formalize a logic" and "formalize a logic in a programming language". In the former case, one is talking about moving from a natural language metalanguage to a formalized object language, and the latter one is building one formal system for another often with the goal to automate the grammar of the first.