I've been using the new Twenty-Ten theme for WordPress on my personal website; it's great out of the box, but I wanted to display my custom post types and taxonomies in the same format as it uses for categories and tags. The function is broken into two parts: ucc_get_terms() returns a multidimensional array of the post's taxonomy name(s) and each taxonomy's term links; ucc_get_terms_list() gets the taxonomy information and formats the array for display in the template.

In functions.php, add the following code:

function ucc_get_terms( $id = '' ) {
  global $post;

  if ( empty( $id ) )
    $id = $post->ID;

  if ( !empty( $id ) ) {
    $post_taxonomies = array();
    $post_type = get_post_type( $id );
    $taxonomies = get_object_taxonomies( $post_type , 'names' );

    foreach ( $taxonomies as $taxonomy ) {
      $term_links = array();
      $terms = get_the_terms( $id, $taxonomy );

      if ( is_wp_error( $terms ) )
        return $terms;

      if ( $terms ) {
        foreach ( $terms as $term ) {
          $link = get_term_link( $term, $taxonomy );
          if ( is_wp_error( $link ) )
            return $link;
          $term_links[] = '<a href="' . $link . '" rel="' . $taxonomy . '">' . $term->name . '</a>';
        }
      }

      $term_links = apply_filters( "term_links-$taxonomy" , $term_links );
      $post_terms[$taxonomy] = $term_links;
    }
    return $post_terms;
  } else {
    return false;
  }
}

function ucc_get_terms_list( $id = '' , $echo = true ) {
  global $post;

  if ( empty( $id ) )
    $id = $post->ID;

  if ( !empty( $id ) ) {
    $my_terms = ucc_get_terms( $id );
    if ( $my_terms ) {
      $my_taxonomies = array();
      foreach ( $my_terms as $taxonomy => $terms ) {
        $my_taxonomy = get_taxonomy( $taxonomy );
        if ( !empty( $terms ) )          $my_taxonomies[] = '<span class="' . $my_taxonomy->name . '-links">' . '<span class="entry-utility-prep entry-utility-prep-' . $my_taxonomy->name . '-links">' . $my_taxonomy->labels->name . ': ' . implode( $terms , ', ' ) . '</span></span>';
      }

      if ( !empty( $my_taxonomies ) ) {
        $output = '<ul>' . "\n";
        foreach ( $my_taxonomies as $my_taxonomy ) {
          $output .= '<li>' . $my_taxonomy . '</li>' . "\n";
        }
        $output .= '</ul>' . "\n";
      }

      if ( $echo )
        echo $output;
      else
        return $output;
    } else {
      return;
    }
  } else {
    return false;
  } 
} 

Within The Loop, replace

                <?php if ( count( get_the_category() ) ) : ?>
                    <span class="cat-links">
                        <?php printf( __( '<span class="%1$s">Posted in</span> %2$s', 'twentyten' ), 'entry-utility-prep entry-utility-prep-cat-links', get_the_category_list( ', ' ) ); ?>
                    </span>
                    <span class="meta-sep">|</span>
                <?php endif; ?>
                <?php
                    $tags_list = get_the_tag_list( '', ', ' );
                    if ( $tags_list ):
                ?>
                    <span class="tag-links">
                        <?php printf( __( '<span class="%1$s">Tagged</span> %2$s', 'twentyten' ), 'entry-utility-prep entry-utility-prep-tag-links', $tags_list ); ?>
                    </span>
                    <span class="meta-sep">|</span>
                <?php endif; ?>

with

<?php ucc_get_terms_list(); ?>