Over twenty years ago, I was camping in Rocky Mountain National Park when a woman straggled out of the woods looking both lost and relieved that she wasn't in the woods anymore. In her hand was an 8.5" x 11" sheet of paper that could only be described as a photocopy of a hand-drawn trail map. She was many miles from where she wanted to be, and ill-equipped to get there.
Years before, I learned the value of a good map when introduced to the topographical maps produced by the U.S. Geologic Survey (USGS). I never went on a backpack or day-hike trip without one. The scale, accuracy, and level of detail on these maps made them indispensable to the outdoor explorer.
Today, I favor maps from Trails Illustrated, part of National Geographic. They begin with USGS topo maps, and review them for accuracy and changes, then print them on waterproof paper. Each map contains several USGS maps, so the scale is manageable, and the area covered is broad enough that one map should have enough coverage for a multi-day loop.
To find new areas to explore, or find my way to a trailhead, a road atlas won't do. The Colorado Atlas & Gazetteer from DeLorme is in my car all the time (unless I bring it inside to examine). The DeLorme Atlas & Gazetteer series now covers all fifty states (they used to make them for only the states worth visiting). They also offer GPS downloads, digital maps, and other useful things to help you find your way in the backcountry.
Being somewhat "old school," I prefer maps and a compass to a GPS receiver. The latter can be heavy, requires batteries, and tells you where you are - not which direction you're facing.