Depending on what equipment your bike has your standards regarding no chain rubbing when cross-chaining might be unrealistic.

I like the Park Tool instructions. Be sure to do the steps in order because each adjustment that you do can affect subsequent adjustments. I think that the very first step, regarding the position of the derailleur on the seat tube, is a biggie. If that's not perfect, you can fiddle around all afternoon and never get your front derailleur to work right.