You can run a pdf report that will display all membership relationships for contacts, either individually or in bulk.
To run individually:
Go to the contact's record and click the Common Tasks icon in the upper right menu area:
Then, select Run a Report:
Then, select Membership Report:
Below is an example of what this report might look for an individual:
To run in bulk:
The same report can be run for more than one client by going to your Advanced Search page, selecting your desired contacts and then selecting Reports from your Contact Options.