Copious mass loss on the Asymptotic Giant Branch dominates the late stages of stellar evolution. Maps of extended circumstellar envelopes provide a history of mass loss and trace out anisotropic mass loss. This review concentrates on observations of millimeter wavelength molecular line emission, on high resolution maps of maser emission and on observations of submillimeter, millimeter and radio wavelength continuum emission. Radio continuum observations show that AGB stars are larger at radio than at optical wavelengths. The extended chromospheres indicated by these observations extend to distances from the star large enough for dust to form, thereby initiating mass loss. Molecular line maps have found time-variable mass loss for some stars, including detached shells indicating interrupted mass loss and evidence for a rapid increase in the mass loss rate at the end of the AGB phase. Maps of circumstellar envelopes show evidence of flattening, bipolar outflow and angular variations in both the mass loss rate and the outflow velocity. As stars evolve away from the AGB and planetary nebula formation begins, these structures become more pronounced, and fast bipolar molecular winds are observed. The time scales derived from the dynamical times of these winds and from the expansion rates of the central planetary nebulae are very rapid in some cases, about 100 years, in agreement with the predictions of stellar evolution theory.