I don't know of a print out keyboard, but you can go into options Keybinding to see what keys do what.
Most important, play around with how powers are displayed by clicking on the right of the power tray, three numbers come up, i prefer number 3. That way you just trigger powers with 1-0, alt+1-0, and ctrl+1-0.
Also important, G targets nearest exposed mob. Very, very handy in ground combat.
(not so closet anymore though now that you are playing a trek mmo, heh)