What's the best way to hard boil an egg?

I have tried numerous recipes by a variety of experts and my eggs either come out under done (the yolk is not completely cooked in the center) or over done, (the outer part of the yolk gets that greenish tinge.)  

I've tried

putting the eggs in the water before turning on the heat,

bringing the water to a boil and then adding the eggs,

bringing the eggs and water to a boil and then turning off the heat and covering for the proscribed time

but nothing seems to work with any sort of consistency.

So, tell me, does anyone have a consistent way to hard boil an egg?

I hard-boil exactly as described above, and it's always worked fine for me.

 Bring the eggs and the water to boil, remove from heat, and let eggs sit in the hot water 15 minutes.

(It sounds harder with every step outlined like that, but it really is not).

Thanks you guys.

I'll give it a try next time I hard boil some eggs.

I thought that it was older eggs that caused the shells to stick when peeling?

Nope - older eggs peel easier.  I use the above method, too.

You can tell if a hard boiled egg is fully cooked through by spinning it.  Just remove it from the water and spin it on your counter top.  If it spins rapidly, it's cooked through. If it spins slowly and sluggishly, it needs some more cooking time.  ;)