About 5 years ago, we decided to streamline the repetitive nature of our weekly shopping trips. (…and by we, I have to confess I’m not the key grocery shopper in the family.) After several renditions, the list has evolved into much more than an alphabetized ordering of our most used items, here’s an example of our most recent version.
A couple of mentions about the subtle metadata within the list:
1) Red text allows for blue/black ink or pencil to be visible.
2) Organization is by department within the store, including the typical route through our neighborhood store.
3) Yellow indicates a “staple”, which is something that is needed almost every trip, whether marked or not.
Typically, we print 5-6 off at a time and update the sheet as our habits change. At first we tried to do this with an online version but found there was no substitute for the quick checkoff via pen/pencil. Keeping this in Google Docs allows for editing to be done anywhere, but for those preferring a retro approach, Excel will work fine.
Continual Improvement 
We use a Google Doc but don’t print it out, because we can read and modify it from our phones when we’re at the store. Before going to the store, we update the grocery list collaboratively and simultaneously (from different devices).
@Roger – Thanks for the note. Admittedly, we’d love to be that organized, but with three of us (1 younger less prone to process), we are few years away from that. 🙂