Google's World Cup Venue Map
Mapperz has a nice round-up of South Africa World Cup maps. I must say I wholeheartedly agree with his choice for the award of Best Individual Map.
Included in Mapperz's collection is this map from Google, that somehow has previously managed to evade my radar. The map has links to all the host cities of the South Africa World Cup with markers showing the locations of the stadium and local points of interest.
The information windows include links to open the Street View for each of the mapped locations.
If you want to view the Street Views of each of the stadia you can also view them on Google's Street View Gallery.