My cat used to knock things off my night stand in the middle of the night, and it drove me nuts. I swear she did it just to wake me up.
She woke me up one night and the only thing I had within arm's reach was a bottle of perfume, which I sprayed into the air above her (NOT in her face)...and she jumped right off the stand and never climbed up again.
A spray bottle of water or vinegar, or anything else that is startling and unpleasant would work just fine in your kitchen.
I've also heard of people putting duct tape sticky-side up on the counter... it's not that practical when you're actually using the kitchen, but I would think it has a lasting impression if the cat jumps up and lands in sticky tape. (not to mention hilarious)