Determine the clearance you want between the shelf and the rafters above. A good way to do this is to measure a few sample objects you might store in the hanging shelf. Take into account how far down you want the shelf to hang as well -- you don't want it to hang too low and be an obstruction.
Cut four lengths of 2-by-4 inch board equal to the measurement you determined in the previous step, plus 4 inches.
Measure the distance between the outer edges of the two rafters from where you want to support the shelves. Cut two 2-by-4 inch boards equal to this distance.
Lay the two boards you cut in the previous step onto the floor on their broad sides. Place the boards from Step 2 at each end, extending them upward so that you have two forms that resemble a shallow "U". Nail the boards together on the outside edges with two 8d nails at each point where they join.
Cut a piece of plywood to match the inside width of the forms. Make the plywood piece as deep as you want the shelf to be. Place the plywood board onto the forms, with 4 inches of plywood overlapping the forms on both ends. Nail the plywood board to the forms from the top, spacing the 8d nails every 4 inches.
Climb up on a ladder and raise the shelf, with the help of an assistant, so the vertical boards overlap the ceiling rafters by 2 inches. Nail through the vertical boards and into the rafters with two 10d nails at each intersection.