In conjunction with Neph et al. Circuitry and dynamics of human transcription factor regulatory networks I wrote a graphical tool for exploring regulatory connections of this type.
In this tool, you can pick your tissue or cell type and list of genes, and then click on the "text" button to export a two-column list of regulator-regulated gene relationships, e.g.:
regulator    regulated
AHR          HES1
ARNT         HES1
BACH1        MYB
CBFB         SPI1
CDX1         HES1
CDX2         HES1
CEBPA        TAL1
...
The regulator-regulated relationship indicates if a "regulator" TF binds to a "regulated" gene's promoter region.
For speed, the default setting is to show networks for relationships only between specified genes. You can click on the "both" radio button in the "TF regulatory interactions" row to show all relationships between specified genes and all other genes one level deep. 
Further, you can click on the "detail" button to enable the interactions between the set of other genes. Once the interface finishes redrawing the network with the level of detail you want, you can click on the "text" button again to export another list, but this time with all additional genes and relationships.
If you want the complete set without going through visualization, there is a tarball link available via the "about" button.
                    
                
                 
Perfect! Thank you Alex.
I believe for the complete set of interactions the columns are reversed: regulated, regulator. The corresponding README.txt correctly points this out, but I thought it was worth mentioning here as well.
Thanks for the great resource!