Just get rid of your alarm clock, and wake up when your body tells you to.
Sure, that's the best way, but most people cannot do it; they risk being late for work, or in my case, getting the kids to school. (Actually, to be honest, my only risk is in not having as much time as I'd like before the kids wake up.) A good second choice seems to be using something like 'Sleep Cycle' for iPhone, or one of these fancy new wristband accelerometer gizmos. I've had good success with Sleep Cycle, mysel…
I'm really liking the Sleep Cycle app, too. Works great, simple, best 99 cents I've spent. Prior to it, I had the $69 WakeMate wristband, but never warmed up to it – it was uncomfortable, and a pain to set and keep charged.