www.legalzoom.com
is great for any type of agreement/contract but you could simply type one out which grants a specific usage and states the limitations of what they can and can't do. Releases are pretty straight forward!
Just title it, "Print Release, Copyright Release (Full Rights or Limited Rights)..etc."
Make sure it's directed between you and your client and it's non transferrable. State your company's location and necessary identifiable information then you can either list or describe the extent of usage you are granting your client.
I would also add in that you control the final output of the photos and require the client to provide written consent and it to be approved if they want to use the photos for publication.
You can also list the usage to be personal or commercial. Just make sure you write out if they can or cannot use the photos for sale.
If it's a print release, make sure to write down your permission which allows them to print the photos at any lab for non commercial use.
Have them and you sign the agreement and you're good to go!
Also, add in your extent of usage. Sometimes, granting clients copyrights may make them feel entitled to control the output and may cause complications when you use the photos commercially to promote yourself.