There's various options depending on the level of accuracy desired. To be most useful to a general audience, not just this question's asker, I'll mention a couple rough methods:
The way you should track your energy choices in general is fairly simple: monitor your energy bills monthly, before and after making the change (in this case, before and after installing the solar hot water system). Energy utilities are often quite good at giving you detailed information on your bill. While this method is rough, and fails when you make multiple changes at once (e.g. add a baby at the same time that you add solar hot water), it also has the benefit of encompassing all losses in the system, which you will not get if you only monitor in situ at the panels.
You could conduct a short experiment, and then extrapolate results to get your monthly, or yearly savings.
- The experiment might involve switching off all other electric devices in the house (I recommend doing so at the circuit breakers, not by unplugging appliances individually).
Leave your hot water system to operate normally.
With a simple thermometer, take some cold water from your tap to measure its temperature. Note the hot water setting at your house if you have a fixed setpoint (e.g. 60°C), or measure it again by drawing hot water from the tank's drain valve, or a nearby faucet. Now you have your ΔT (change in water temperature).
Start with the hot water at equilibrium (after the tank temperature is stable ... not right after a shower, or running the clothes washer).
Record the initial electricity reading at your home's meter.
Have your family take your normal daily showers. Note the exact length of the showers, in seconds.
Wait a few hours, or until you're sure that water tank temperature has recovered to the steady state value.
You'll need to know the flow rate of your shower. It should be stamped on the shower head itself, but you may need to calibrate that number with a separate experiment: run the shower into a large bucket of known size and time how long it takes to fill.
With this information, you can determine that total water consumed is equal to the total shower time in seconds, times the flow rate in liters per second.
Once again, measure electricity consumed at the house meter. Subtract the initial reading to get total grid electricity consumed
The total heat added to the water is the volume of water used, times ρ (1 kg/liter), times ΔT, times the heat capacity of water (1 calorie / gram / °C). The heat added by the solar system is approximately the total heat, minus the heat added by the electrical heater. You measured the electrical energy input, so heat input from the electric element will be that number, multiplied by the electric water heater's Energy Factor.
If you don't want your food to start spoiling during the experiment, simply get one plug-in power meter to use with your refrigerator, so you can measure and subtract the fridge's energy from the meter reading.
If you want to also run through a cycle with your clothes washer, or dish washer, then add them to the experiment. Again, use a plug-in meter on the appliance when it's being used, so you can separate that energy usage from what you read at the home's meter. If your dish washer has an option to provide water heat, which I don't tend to use, you might turn that off for the experiment.
For a clothes washer, if it drains to a utility sink, you can stop the sink up, and monitor how many times it fills (opening the sink before it overflows, of course), to measure the water consumed during a hot cycle. I'm guessing you have a cold rinse, which you wouldn't want to measure for this test. Cycles that mix hot and cold might be harder to measure ... I'll have to get back to you on that.
For the dish washer, you might just have to search for manufacturer's data on your model, to see how much hot water per cycle it uses.
Extrapolating
If you just perform this experiment once, it's obviously dependent on how sunny that day was. Repeating the experiment several times, during different seasons/conditions, can allow you to get an average result. You could also try to simply determine what the day's sunshine was like, relative to the average.
If you have access to a Pyranometer, you can measure sunshine during the experiment, and compare it to other days (the other days can simply be to monitor sunshine, without the hot water tests). You can also lookup climate data for your location to determine how sunny your area is, month by month.
With this information, you can determine that during your test, your output might be 10% above normal, or 25% below normal, and use that adjustment when you multiply by 30, or 365 to get monthly and yearly estimates. Remember that if you add activities like clothes or dish washing, that don't happen daily, you'll need to account for that when projecting for the full month, or year.
Note: if you do the experiment, and feel that your hot water temperature is not constant (not recovering all the way between uses), then you can make the results more precise by measuring hot water temperature at each step (each shower, each wash cycle, etc.) and performing the calculation for each hot water consuming activity separately, with a different ΔT value.
More
It sounds like EnergyNumbers is going to provide a more precise technique for measuring output (at the panels?), so I'll leave my answer with just these rough measures for approximating the answer. For the majority of home users, I think this is more than sufficient to track your energy efficiency improvements.