Well, the overall BEST method would have to be the simplest, and that is put the seed directly into the medium it will root in and let it go.
period.
That way, the root tip contacts the soil immediately and the tiny hairs start sucking nutrients. This old lady named Ma Nature has it figured out.
The reason we germinate outside of the medium is to make sure that the seed opens. It's a convenience thing, so you don't have to wait to see if it comes up out of the soil.
When I germ in paper towels, I check the seeds every few hours. When a seed cracks open, and the root tip just sticks out, I use tweezers to gently pick up the seed and place it where it goes.
HTH