Second the hair spray trick! I taught this one to all the boys at the shop, and they were amazed. No more cutting off old grips, and wrestling new ones on.

To the OP: I think what you're looking for are "ergonomic grips". I have a pair made by Ergon (GP1-S, I think) that are very very nice. They're bolt-on, which means that I was able to fine tune the angle without having to repeatedly take them off. Just loosen the Allen bolt on the clamp, move the grip, and re-clamp. IME, it took a few rides to find that perfect angle where the entire heel of palm evenly contacts the grip without causing discomfort, but now they're perfect!