Well it seems that at least one programmatic way to do this is to query the AWS Pricing API:
#!/bin/bash
curl https://pricing.us-east-1.amazonaws.com/offers/v1.0/aws/AmazonEC2/current/index.json | jq -r '.products[].attributes["instanceType"]' | sort -u | grep '\.'
A gist for this is here, in case of future tweaks:
https://gist.github.com/nmagee/b096e6fadf9ac336da7ffdada43f656a
What this is lacking is grouping/specifying by AWS Region, which can be an important distinction -- not every region has all instance type offerings.