I came across a reference to Morton Fredriksen's RDF Explorer tool, which takes the URL for an RDF schema and produces a human-readable summary of the classes and properties in the schema. I've been meaning to write such a tool for a while, but the LazyWeb strikes again...
Here's an RDF Explorer view of my review schema.
The review schema only has a single class and a single property, so the display isn't very large. Viewing the DOAP schema provides a look at a larger schema.