Anyone got any tips on how to take better notes?

I've always had this tendency to write down every single word my professor says, and I don't know how to stop myself from doing so. I also don't have time to write down everything while listening to the lecture at the same time, so I usually just write down everything while listening to the lecture. In the end, I'm spending the whole course writing down everything and understanding about 20% of what the professor is teaching. I wind up having to read the textbook afterwards to fill in all the gaps in my understanding. It becomes a huge waste of time.