When you are at WDW, they are available free all over the parks (along with the park maps,) from the front gate and at most of the checkout stands of the shops and many kiosks... just all over the place.
You can also get some modified versions at the WDW Resorts' Concierge Desks.
AND, ON LINE...
This is a great site to keep BOOKMARKED for future reference.
The following site posts the stage shows, in-park and other on-property shows and their times for the CURRENT week.
(It is updated every weekend.)
The times may be "similar" for other dates as well.
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