'Stipulate' is often used when detailing parts of contracts or formal agreements. The lease stipulates that tenants must not make loud noise after 10 PM.
Pro Tip 2/3
Not Always Written
Stipulations can be verbal too, though they are more common in written form. The teacher stipulated that all projects be turned in by Friday.
Pro Tip 3/3
Expectations Set
Using 'stipulate' sets clear expectations for what one party wants from another. The job offer stipulated that relocation would be necessary.