I am sure there are a lot of over the counter medications you can take if you wake up with neck and shoulder pain.
Some other suggestions might be to do some gentle neck stretches, use a heating pad and use a supportive neck pillow at night.
Also look at the position you are sleeping in. If you are using too many pillows at night, this can be the cause of neck pain and stiffness. Using a contoured neck pillow is best. Check out this page on how to choose the best neck pillow- it can make a big difference on how you sleep and wake up the next a.m