There are also egg poaching pans, which are basically just egg steamers. You crack the eggs into little cups and place them into the pan with water at the bottom, then put the lid on and let them steam. These work pretty reliably, but I don't care for the way the eggs look when they come out of the cups.
I agree, re the microwave (which also makes the whites too hard). Also agree re the poaching cups (again, they are prone to make the sites rather firm) and I don't like the shapes other.
I just simmer mine in a couple inches of water in an 8 inch nonstick frying pan on my stove. I bought a few tiny spice bowls at my local dollar store, and crack an egg into each one (in case the yolks break on any of them) then gently lower them into the simmering (not boiling!) water until they are done. Sometimes if I don't have enough water in the pan, I will have to ladle it over the yolks as they are cooking, but that's about it really. I don't do the vinegar thing personally since I don't like the flavor it imparts on the eggs.
I put mine into little dariole moulds before I tip them into the simmering water. I'm assuming you do mean you tip the eggs into the water.
I did see a genius trick though, to get rid of those loose egg whites that float around the water and foam up. One person online suggested straining the eggs in a fine mesh strainer first, which lets the runny parts of the whites drain off, leaving the firmer part intact. I haven't tried this yet though
I must try this!