Disclamer: I am not an atmospheric or climate scientist; corrections are welcome if I have anything wrong.
Human heat production
According to the IEA, world primary energy consumption in 2012 was 13370 million tons of oil equivalent, which works out to being $5.6 \times 10^{20}$ Joules. Averaged over a year, this equates to $17.8\,\mathrm{TW}$. Wind, solar, etc., are a negligible part of this, but it does include a small but noticable amount of hydro and biomass. Strictly speaking, all of the hydro and some of the biomass should be excluded as they are simply a short-term "reuse" of energy that has already arrived from the sun, and not "new energy". Let us use the figure above but treat it as an upper bound.
The area of the earth is $5.1 \times 10^{14}\, \mathrm{m^2}$(source: Wolfram Alpha), which means that the figure above comes out to $0.033\,\mathrm{Wm^{-2}}$, a comfortingly close match to the figure given in the literature in Sabre Tooth's answer.
Energy from the sun
According to the Wikipedia page "Earth's energy budget", average solar insolation on the surface of the earth, taking into account day and night, summer and winter, is around $240\,\mathrm{Wm^{-2}}$. The figure that we should use is higher than this, as some is absorbed in the atmosphere and contributes to warming, but let us treat this as a lower bound. Multiplying by the surface area of the planet gives us an incoming energy flux of $1.22 \times 10^{17} \, \mathrm{W}$, or 122 petawatts.
Comparisons
Total human heat production, then, is in the order of 0.01% of the energy from space, and as such one might consider it negligible. By contrast, the total energy imbalance that results in global warming - including any effect from anthropogenic heating - is estimated to be approx 300 TW, or 20 times the total anthropogenic heat output.
(As an aside: Initially when writing this I thought "human fuel use is 5% of the planet's energy imbalance - that's significant!". But of course the greenhouse effect results in an imbalance that is a proportion of the total radiated energy, and human energy makes an insignificant difference to that total radiated energy.)