TFR information for your route of flight should also be given to you in your flight weather briefing - you DO get a weather briefing from FSS before every flight out of the pattern, don’t you? (If you use DUATS instead, read to the bottom, where the notams are… And remember, FSS or DUATS is the only way for most of us to get a briefing that can be verified should you need the legal protection.). Plot the TRF on your sectional before you launch, make sure you check where you are as you fly, and all should be well.
You can get the graphic version of TFRs from the AOPA web site or other web sites already mentioned here; compare it to the one you plotted manually to correct mistakes, and the cross-check should make you familiar enough with the area that you don’t violate it by mistake.
As was already mentioned, getting VFR flight following or filing IFR will keep you out of the TFRS as well, unless the controller(s) goes brain-dead at a critical moment. If in doubt, ask the controller. I had two instances where IFR and VFR-flight following helped me and kept me out of trouble recently:
First time, I was coming home from Owensboro, KY. My night VFR route over the App. mtns had me flying just south of the TFR over the Oak Ridge, TN nuclear (a.k.a. bomb) plant. ATC gave me a couple of vectors as I went through some class C airspace, and I ended up off my planned course. As I got near Oak Ridge, I realized my new “direct-to” route would take me right over the plant, so I advised ATC I was going to turn south to avoid it. The controller said “I was wondering if I was going to have to turn you in a couple of miles. Glad you caught it yourself.” So, he knew where I was and was going to try to keep me out of the TFR even if I did nothing myself to prevent the incursion. Then he comes back with “I can clear you to operate over the top of the TFR if you can climb 500 ft to make the AWACS crew happy.” That short climb saved a 20 mile detour…
Second time was a recent round trip to Doylestown, PA. Went up VFR, and got vectored all over the map to keep me clear of the big airports. I wasn’t allowed into ANY of the class B airspaces. So, I filed IFR with “direct” as the route for the trip home. That route would take me right over DCA, but I figured ATC would be vectoring me by that time because of the overlapping Dulles and Regan, plus Baltimore airspaces. When I was handed off to Dulles Apch. (no vectors yet!), the controller asked me to confirm I was /G. When I said I was, she said “OK, I’m going to send you between Dulles and the TFR. Your choice, vectors or a waypoint route. Expect to go back to your direct-to routing as soon as you cross the Potomac.” I opted for vectors, and she proceeded to thread me to within a mile of the TFR boundary (it was a VMC afternoon, and I could see all the landmarks as I flew over. Nice!). As soon as I got to the river, she asked me what my direct on-course heading would be, then cleared me “direct HKY” ( HKY is my home aprt.). That took me directly over Dulles at 4500 ft. Quite a scenic ride!