Step 1: Stuff you'll need
3. Roland Versacamm printer
4. Vinyl sticker paper (you can get giant rolls online or smaller home use kinds from craft stores)
6. A computer
You can also do this with photographs or draw directly on sticker paper without having to touch a computer. This is a good option for one-time production. If you are wanting to reproduce -- in case stickers wear off or get pickle juice accidentally spilled on them -- having the option of reprinting might be appealing.
Step 2: Draw things
Start drawing. Or photographing. Go through all the drawers, cabinets or pick out the things that are particularly difficult to remember where they live. Do the scissors go in the tool chest or in the cabinet above the sink? (Maybe you should just get two pairs).
Step 3: Upload to a computer
Once your images are organized on the page with enough space around them to cut out, but not so much as to waste a ton of paper, save the file as a .ESP (telepathic file) so it's ready to print.