There are transportation maps, but no real route maps like a city bus/subway system that I'm aware of.
It's very well signed, though so as long you look for the signs, you'll end up in the right place. In addition, each bus will have a sign on the front with it's destination. They just go from pick-up to drop-off so it's not like you have to know if there is a stop in between. The only exception are the two routes that cover the water parks on the way to a final destination, but those are well marked, too.
Buses from the resorts will go to one of the parks or Downtown Disney only. Buses from the parks will go to resorts. At each park bus depot, each resort has a well marked pick-up station.
The monorails are also well marked. You have 2 choices for the Magic Kingdom and one choice for Epcot. For the Magic Kingdom, you have a resort loop that stops at all monorail resorts and the ticket & transportation center. Or, you have an express loop that runs just from Magic Kingdom to the Ticket & Transportation Center. AT the TTC, you have a line that runs to Epcot and back.
Again, just follow signs or ask a cast member and you'll be in great shape.
Dirk