This app was mentioned in 1 comment, with an average of 1.00 upvote
If you're in the UK the Ordnance Survey MapFinder app is quite nice although 1:25K maps cost per tile.
Locus Map seems like a decent app too.
Most of these apps will record your route and allow you to import/export your routes as gpx files. You can then import these to Google Earth and the likes.