If you use psycopg2 (and possibly some other client library), you can simply pass a Python datetime object as a parameter to a SQL-query:
from datetime import datetime, timezone
dt = datetime.now(timezone.utc)
cur.execute('INSERT INTO mytable (mycol) VALUES (%s)', (dt,))
(This assumes that the timestamp with time zone type is used on the database side.)
More Python types that can be adapted into SQL (and returned as Python objects when a query is executed) are listed here.