[DOC] Update the depends README with dependencies and cmake instructions

Summary:
This diff updates the cross compilation instructions to use cmake and
ninja.
It also make the doc in sync with core with up to date dependencies.

Backport of core PR14264 and PR16051.

Test Plan: Read and test the instructions.

Reviewers: #bitcoin_abc, jasonbcox, deadalnix

Reviewed By: #bitcoin_abc, jasonbcox, deadalnix

Subscribers: jasonbcox, deadalnix

Differential Revision: https://reviews.bitcoinabc.org/D5394