Google Maps doesn't handle waypoints in a way that makes them easy to export. So I've given up on that.
It appears that OruxMaps will do what I need (and a whole lot more), but it is not free and it sounds like it has a steep learning curve.
It looks like My Tracks (not Google My Tracks) does what I need as well, and it is free. Very simple interface.
Has anybody used either of these two apps?