Made this after reading DMG2. Seems like companions never get a power they can use more than 3 times per encounter hence only three used checkboxes per power. Regarding Action box, the letters are Free, Minor,moVe,Standard. Type is At-will,Encounter,Daily.
Use Adobe Acrobat Reader to fill in the power descriptions before printing. You can rotate the page 180 degrees first to fill in the bottom half. The reason the bottom half is upside down is so when you print with .25" margins all around you get a bit of extra white space at the top of the sheet for writing in the companion's name. Cut on the dotted line. Half-sheet companion sheets take up less space on the gaming table.
Make sure when you print the PDF with Acrobat that you change Page Scaling to None in the Print dialog otherwise Acrobat will add even more margin around the sheet which makes the print smaller.