To answer a question frequently asked in the community, the best solution can be found in a couple of freely downloadable utilities, however, there is also a manual way to do this using the Visio stencil set.
The first free utility is from Enhansoft, which comes in the form of a script that runs against your ConfigMgr server. Download it from this page (registration is required): http://www.enhansoft.com/pages/downloads.aspx
The second free utility is from Tondtware, called SMSMap. SMSMap is a freeware ConfigMgr 2007 / SMS 2003 hierarchy drawing tool. It is an all-in-one solution for creating Visio drawings of any combination of ConfigMgr 2007 and SMS 2003 site servers. It can be downloaded from here: http://www.tondtware.com/downloads.html
If you opt for the more manual process of utilizing Visio, you’ll at least need the ConfigMgr stencil set. You can grab that here: ConfigMgr (SCCM) 2012 Visio Stencils v0.7 (2.9m)
The stencil set has been updated for ConfigMgr 2012, but can be utilized for any version of ConfigMgr.
Know of another way to get this done? Let us know. Leave a comment here or drop an email.