Selecting Help>Modeless Commands will take you to the modeless command list. You can copy that into a text editor and edit it down to a single page for a printed reference. While you're doing that, you'll also learn how many commands you didn't realize existed.
While I'm on the subject, one of the problems with modeless commands is they are implemented differently in Layout and Router. Not all commands work in both, and more frustratingly, Router requires a space between the command and variable in many cases that Layout doesn't. And if anyone from Mentor is reading this, lose the unnecessary space, don't require it.