As mentioned in comments, masking tape is an excellent solution. It's cheap, it holds well yet comes off easily, it can be torn off at whatever length you need, and you can write on it with just about anything.

Both at home and working at restaurants, I've used masking tape and permanent marker for labeling items for storage in the pantry, fridge, and freezer for years. Just about its only disadvantage is that it's not aesthetically pleasing, but presumably you're not usually showing off your collection of frozen meals. It can also sometimes leave behind traces of adhesive after being stored for a long time, but that's easily scrubbed off by hand.

A couple extra tips:

• The regular beige stuff is fine; there are blue "painting tape" varieties that claim better adhesion and easier removal, but they're not worth the extra money. Plus, if you're writing in black marker, beige offers better contrast.
• Labeling is easier if you tear a strip off the roll before you write on it. I don't usually have problems with the marker bleeding through, but you probably want to write on a non-decorative surface in case of stray marks.
• Where possible, stick your labels on lids (if you'll be reheating in the same container) and pull them off at room temperature. Excessive heat or cold seems to increase the chance of residual adhesive, and you probably don't want even a mild, temporary glue cooking in your oven or microwave.

I'd actually recommend painter's tape, despite the "not worth the money" comment in another answer. I find that it doesn't dry out as much as masking tape does, so it sticks longer and is less affected by wet (because it's designed to get wet). It releases well. We also use it to label our lidded canisters with the contents and "best by" date of the current package. As you can see, contrast with a black sharpie really isn't an issue.

It comes in a wide variety of widths and is relatively cheap (considering you only need a few inches).

Also, for removal ease, you might consider folding under one corner or edge so it's easier to start pulling.

For food storage, I use quart containers (and pints) that I order in bulk from Amazon (like the ones you get at a deli) and zip lock bags...no brand name or funny shaped containers. The quart and pint containers all take the same lid, so no need to search. Then I just use a sharpie to write on these before placing them in the freezer or fridge. I also write on the zip lock bags. For the quart containers, the sharpie just wipes or washes off the lid. Then I can re-use. I don't reuse the zip lock bags.

Use a "permanent" marker meant for writing on CDs on the containers directly. When storage is over, clean the writing with isopropyl alcohol.

The idea is similar to moscafj's, but unlike a nonpermanent marker, it won't smudge when you hold the boxes and move them around.

Update If you are uncomfortable using isopropyl alcohol, Pete Kirkham suggests in comments that dish soap plus elbow grease are sufficient to remove this kind of pen from a plastic box.

In addition to masking tape, which I do like for some purposes, we use erasable labels, like these. They are permanently stuck on (but don't seem to hard to remove, though I use glass not plastic containers), you write on them, and then use the included eraser to erase them so you can write on them again. They seem to survive the dishwasher fine, which is an added bonus.

Adhesive (office) tape, paper, scissors and a pen.

I've always used the most inexpensive solution: simply cut the cheapest paper you can find (I use printer paper) into long strips or rectangles (that you then cut down into strips). You can write as much or as little info on it as you want and vary the size of the paper accordingly. Simply stick a piece of adhesive tape on top and attach to the container. I cut printer paper into rectangles because that makes perfectly-sized shopping lists (5 by 15 cm or 2" by 6") and they're then easily cut down to fit the info you need on a freezer label.

Most office tape will stick excellently without losing strength in the freezer but they won't mark the container in any way and can easily be removed. Heat of the container is not an issue. Condensation can weaken the paper but removing the tape has never been an issue for me.

The advantage is that most households will have all of this on hand, it's dirt cheap and you can make the labels as large or small as you want. My labels can be as simple as "tomato soup - DEC 2015" or as detailed as "Chili Con Carne, Sep 2015, 470g, Extra Spicy (Ghost Pepper), Pork+Beef, Kidney beans"

Chalk Pen!

Chalk pens like the ones that bars use to write on blackboards work perfectly for writing on Tupperware. You can read them legibly indefinitely, you don't need to mess around with sticking labels onto things and, when you're done, you can just wipe it off with a damp cloth.

Similar to Joe M's answer, you can also get dry erase tape.

It is a roll of tape you can stick on and write on with standard dry erase markers.

From a quick google search, you can find some here, but it is readily available elsewhere.

I'll add on to the above suggestion of painter's tape with a bit more specificity. Chef Thomas Keller uses green FrogTape painter's tape for storage at the French Laundry, and I'd pretty much take anything he does as gospel. It is easily removable, doesn't slide off the container if it gets wet, and is relatively cheap.

Anything you do as far as food labeling is going to cost a bit of money: if you write directly on the container, you'll have to replace the container eventually. If not, you'll obviously have to purchase something to stick onto the container itself. But it is a sound practice and worth investing in, especially if you freeze a lot, as you say you do.

http://robbreport.com/Fine-Dining/Icons--Innovators-Thomas-Keller-Inn-Coming

http://frogtape.com/

White electrician's tape. Double a bit of the end over to act as a removal handle, and please, for good freezer storage, vacuum seal. It's cheap if you buy it in rolls.