With XSLT 2.0 you do not even need for-each, you can simply do e.g.
Code:
<xsl:value-of select="foo" separator=","/>
With XSLT 1.0 you need e.g.
Code:
<xsl:for-each select="foo">
<xsl:value-of select="."/>
<xsl:if test="position() != last()">,</xsl:if>
</xsl:for-each>