List Categories Related to Each Post

First off I’d like to say that I’m a Newbie to WordPress. I know that lots of people use tags, but I feel as though categories are enough for me. Now, when I make a post each post often belongs to more than one category. I’m looking for a way to list the categories related to a post on that single post’s page. Example:

Post: Bob’s guide to bananas.
Related Categories: Trees, Fruit, Vitamins, Tutorial
I want the words “Trees, Fruit, Vitamins, and Tutorial” to show up on the post “Bob’s guide to bananas”.

I’ve looked for this solution, but I keep getting plugins that make a list of all of the posts in that category.

Thanks for your help,
Chu