This aspect of diapering your baby isn't limited to cloth diapers. All mamas need a good changing pad. Here are two that I use that are made by cloth diaper manufacturers. I have one made by Fuzzi Bunz. It is PUL on the outside for waterproofness and soft fleece on the inside. It is nice and big, but thin so it can fold flat.
(Fuzzi Bunz pad - fleece side shown)
The other one I have is from Mommy's Touch, While I'm not a huge fan of their diapers, I love their accessries, like wet bags and this changing pad. It is also PUL on one saide and soft fleece on the other. While it has smaller dimensions than the FB pad, it is much thicker (it has an extra layer of cotton sherpa in the center for absorbancy, so if your wee one pees while you're changing them, it won't go everywhere!).
(Mommy's Touch pad over the Fuzzi Bunz pad to show size comparison)
But what I love most about the Mommie's Touch changing pad is the strap with the snap, so you can roll it up. That keeps it secure in the diaper bag, but it's fantastic if you have a big mess that gets all over it - keeps it from getting all over everything else in the diaper bag on the way home.
(FB pad folded and MT rolled up and secured with snapping strap)
Cloth changing pads are so much more comfy than those plastic ones that come with diaper bags. You can throw them in the wash with your cloth diapers, and you're good to go!