I print these off, cut them out, and fold into envelopes. I prestuff them prior to leaving home and just keep them in a quart ziplock bag in the safe and take one out each day. In the mornings just before leaving the room, I gather all the towels and washcloths together, roll into a ball, wrap with a clean towel, place in the sink, and put the mousekeeping envelope on top.
http://www.themouseforless.com/downloads/trip/mousekeeping.shtml
http://www.themouseforless.com/downloads/trip/mousekeeping.shtml