You can print your own maps with Cartes due Ciel (CdC) which is also free.
Stellarium mentioned above may also do this, however, I was suitably impressed by the quality of the printed CdC maps that I've not tried the other software available.
There is also the free printable maps made by Toshimi Taki, download here:
To 6.5 mag:
http://www.geocities.jp/toshimi_taki/atlas/atlas.htm
To 8.5 mag:
http://www.geocities.jp/toshimi_taki...5/atlas_85.htm
If you print using a inkjet printer and want to use the maps in the field you may want to laminate them to stop dew causing the ink to run.
If you have a laser printer this isn't an issue, but the paper does get a bit damp, tho this has never really bothered me.