I use SolidWorks, so here's how it goes. (Inventor was a similar process).
1. Model your robot in CAD. Simple enough, you need parts to make drawings.
2. Once you are done, go to File > New and make click Drawing.
3. If you have not created a custom title block yet, just select the default template for the size drawing you want to use. Personally, I do everything on either 8.5"x11" or D-size (24"x36").
4. Before you put any model views in the drawing, you need to customize the title block. Well, you don't need to, but its nice having a custom team title block. Right click anywhere on the drawing and go to Edit Sheet Format.
5. Use the sketch tools to recreate the title block the way you want it. Don't delete the text-holders from the default template, they will automatically be filled in if you set each model correctly.
6. When you are completed, go to File > Save Sheet Format. Give it a file name with your team name and the page size. It will now show up in the list of choices when making a new drawing.
7. Import your part into the drawing. Create multiple drawing views as necessary, and dimension and tolerance as necessary. If you want to make an exploded assembly, you have to open the assembly file, use the Exploded Parts feature, and then use the Exploded Part Sketch feature to add lines in there. Save the file and import into a drawing. Label each of the parts as necessary.
8. For assemblies, or parts with multiple revisions, it will be helpful to add a revision table and/or list of parts table. SolidWorks automates a lot of this stuff to make it go a lot faster.
9. Save the drawing. I always save it in native SW format, as well as an additional copy in PDF form. The PDF version is much more convenient to email or print out.
It's also a really good idea to take a course in drafting or creating engineering drawings. Engineering drawings are a form of communication, so they should be as clear and to the point as possible, containing all necessary information.
If you are serious about doing this in the future, it would also be a good idea to figure out a part naming scheme and give individual part numbers to every component you design. (Calling something "Delrin spacer" or "3/8" Drive Shaft" gets really confusing). Team 228 did this for every fabricated part on our 2009 robot; we filled an entire three ring binder with the part drawings.
Every part has a part number.
Assemblies have assembly drawings.
Also, if your team is considering seeking the help of an outside machine shop to make some parts for you, having proper drawings for all of the parts REALLY helps the machine shop, and ensures you get back the exact part you were looking for.