You can use a 3-4-5 triangle to get what you need, or you can use an alternate method (you need two tape measures for this one):
First mark all of the stall lines at the curb face. Once that is done, go back to your first mark and pull the tape measure out about 20' pull it out away from the curb and towards your second mark so that it will be at an angle. Lock that tape and go to the THIRD mark with your other tape. Pull it out 20' away from the curb and again toward the second mark.
The location where the two tapes intersect each other at the 20' mark will be at a 90' angle to the curb face where your second mark is. Pop that line in and measure off of it to get all your other stalls.
This is the same method used when your stalls are put in on a curve, it just happens to work when it's straight too. I'll try to give a picture of what it looks like below, but I'll probably have to edit it a few times to get it to look right.
(first mark) (second mark) (third mark)
. . .
\ /
\ /
\ /
\ /
\ /
\ /
\ /
\ /
\ /
\ /
#
the # shows where the two tape measures intersect at 20' (they both need to be on the 20' mark and they need to be exactly on the first and 3rd marks) This point will be at a 90 degree angle on your second mark.