Back in July of 2005, Tom Hudgins and his wife Deb had their daughter Carly shoot a video of them demonstrating "The Proper Method". They first wrote about this on Tandem@Hobbes where you'll find a plethora of feedback from readers.
It did a very good job of capturing the basic process, less any customizations. For example, I mount road bikes track bike style by swinging my right leg up and over the handlebars and I typically start and stop with my right leg in the down position and left foot on pedal. I always immediately move to the saddle with the first downstroke of my left foot.
Frankly, once you have the basic concept down everyting else tends to be a matter of personal preference or learned habits. Also being off-road tandem riders, we do all kinds of improvising when we have to start and stop on technical terrain which has actually served us quite well when faced with unsual on-road situations, e.g., off-camber roads, etc.