Like a few others here, I don't try to pre-germinate my seeds in paper towels, or soak them. If you know your seeds are quality and they aren't more than 3 years old, and were stored properly, then they shouldn't need soaking at all.
Seeds go directly into soil/less, SAM#4 with earthworm castings usually. I have even used recycled soil + whatever fresh mix I had left over to germinate seeds, with fine results. The container used ideally should be no shorter than 3.5" deep, as the tap root is rather immediately going to want to extend down about 2-3 inches shortly after emerging.