Since this question is rather popular, I thought it useful to give it an update.
Let me emphasise the correct answer as given by AviD to
Why do you want to encrypt the cookie?
As I see it, there are two cases: either you give the client the key, or you don't.
If you don't give the key to the client, then why are you giving them the data? Unless you're playing some weird game with breaking weak encryption (which you're explicitly not), you might as well store the data on the server.
If you do hand the client the key, then why do you encrypt it in the first place? If you don't encrypt the communication of the key, then encrypting the cookie is moot: a MITM can look at the cookie and send you any cookie he wants. If you use an encrypted channel to the client, why the extra overhead of encrypting the stored data?
If you're worried about other users on the client's machine reading the cookie, give up and assume the browser sets good permission bits :)