There are quite a few Apps that do this. Some free, some for a small price.
I personally use one on my iPhone and I can create, edit, customize, and then email to a family member who is doing the shopping.
Quit a few you can choose from. Search for grocery in the iPhone App Store or on iTunes, pictures and more information can be found with each App you wish to see. You can also download as many free ones as you want. Test drive them and see if it does what you are looking for.