The ability of a telescope to distinguish small features is called the "resolution".
For visible light, the smallest resolvable angle (call it A in the equation) is calculated using "Dawes Limit"
http://en.wikipedia.org/wiki/Dawes%27_limit
A = 116/D
where A is the smallest resolvable angle in arc-seconds (there are 3600" in one degree) and D is the diameter of the main mirror (or lens) in mm (also called the aperture).
Then, there are problems with the Earth's atmosphere. Bur, for now, let's ignore that one.
The largest telescope in use is in South Africa and has an aperture of 11 metres (11,000 mm)
Its smallest resolvable angle is
A = 116 / 11,000 = 0.01"
(I am rounding off figures all over, but you will still get a good idea of sizes).
The Moon's average distance from us (centre to centre) is 384,400 km.
The Moon's orbit is an ellipse so that it is closer than that to us half the time, plus we are not at the centre of Earth. Still, the distance to the Moon's surface is always greater than 300,000 km
The smallest resolvable angle is 0.01" and, at a distance of 300,000 km, this corresponds to a size of
300,000 * Sin(0.01") = 0.015 km = 15 m = 50 feet.
Unless the footprints are bigger than 50 feet across, we can't see them, even in the world's largest telescope.
Since the relation is inverse linear (to see something half as big, we need a telescope twice as large), then to see a 1 foot footprint we need a telescope 50 times bigger.
A 550 metre telescope.
The present forecast is for a 100 m telescope within about 25 years. So a 550 m telescope should exist by the year 2100.
All the above is in theory only, since the Earth's atmosphere ruins everything.
Even with adaptive optics, the best we can ever hope for (even with the 11 metre telescope) is a resolution of about 0.1", putting the size limit (for objects on the Moon) at 500 feet across.
We can't even see the base of the lunar landing modules (30 feet across, if you include the extended landing pads).
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The only way to "see" the landing bases was to send a probe with a high-res camera.
http://www.nasa.gov/mission_pages/LRO/multimedia/lroimages/apollosites.html
scroll down to Apollo 14 site pictures (taken in 2009) from an orbiting mapper.
Actually, we still don't see individual footprints, but we can make out the footpath between the lunar lander and the instrument package.