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We did some timing measurements like this early in the build season. We used an old robot controller that was out of warranty and took the cover off. We hooked up a logic analyzer probe to the lead of the BASIC Run LED and then toggled this at certain times in software. The BASIC Run LED doesn't go through the input or output processors so it changes as soon as you set it in the BASIC code (this is unlike all other outputs which only change when the output processor decides to change them, which as we discovered can be up to something like 16 milliseconds AFTER the serout command by the Stamp!).
If you have a controller you don't mind taking apart you should be able to recreate this easily, although measuring it with a scope will probably be a little more difficult than with a logic analyzer. If you don't have a controller that you're willing to take apart, you could always hook up a phototransistor or something similar and just tape it down over the LED on the outside of the controller.
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