What I did for most of it was draw my own, and that turned out to be really fun. Graph paper recommended: trying to have a system for exactly how long a step makes on plain paper was a pain.
The last few dungeons I got bored and switched to online maps, but I recommend that you don't be a pussy like me.
Xyga and Mischief Maker make good points on both sides of using the guide or your own maps for PSII. I'd recommend doing either as there's some items in dungeons you really don't want to miss.
I do feel like I'll play II again one day, and when I do it'll be my own maps, Ive got survivor's guilt for using the guide..
Actually one thing in 2 that seemed Bullshitto was the tiny little square on the map that lets you go to the bottom of the sea on Motavia. That's a lot of fruitless blank ocean searching without a guide.
As Chief Maker says, maps aren't really required for III or IV.
I'm still casually enjoying IV, just got our asses kicked by zio in his tower for the first time.