Yeah, depending on your state you can sometimes just get them off a website and fill them out and all you really have to deal with is the notary and stuff. For example, for Michigan:
http://www.michbar.org/elderlaw/pdfs/durable.pdfJust check your states website or google "[state] power of attorney" and there should be directions on there somewhere. Sometimes you can get "packs" that will have instructions, related documents and stuff. Those aren't too expensive if I recall.
As noted, checking with a lawyer is always a good idea involving money/stocks/pensions. There are lawyers out there who only deal with, or have as a key focus, power of attorney cases, Google Maps can actually be pretty useful for finding them, phonebook ads are still good for something like this.
You can usually call up the office and describe the basic situation and they'll tell you what to do for free. (Even if that advice is "how about you come on in.")