The City of Lansing Master Plan (large pdf warning) is the document, supported by the Planning Board and City Council, that guides development in the city. In contains the Non-Motorized Plan that describes how pedestrian and bicycle infrastructure is implemented. The Lansing described in the Plan is beautiful, but citizens are needed to ensure the City remains on track.
The Crosstown Map from the TCBA (pdf warning) is a great map for planning trips across the Lansing area. Suggestion routes are given to avoid bicycle unfriendly roads.