This article is from the Problem Behaviors in Cats FAQ, posted to rec.pets.cats newsgroup. Maintained by Cindy Tittle Moore with numerous contributions by others.
It's not a good idea to let your cat on your kitchen counters or tabletops. There are several ways to prevent this. Leave a collection of poorly balanced kitchen utensils or empty (or with a few pennies inside) aluminum cans on the counter near the edge, so the cat will knock them off if it jumps up. Cats hate surprises and loud noises. Leave some ordinary dishwashing liquid on the counters, or some masking tape (or two-sided carpet tape) arranged gummy side up. Don't leave things on the counter that will attract the cat (like raw meat).
These same techniques will work for other surfaces like dressers, TV's, etc.