My method:
1. Boil the eggs for 20 minutes
2. Run under cold water until cool enough to handle
3. Roll the egg between my hands for a few seconds - the idea is to encourage the shell to separate from the egg
4. Now roll the egg on the counter, lightly tapping to crack the shell on all sides, but not hard enough to break through to the egg
5. Tap the top and bottom of the egg on the counter to make a space for your fingers
6. Begin at the bottom and pull off a section of shell.
About half the time the entire shell comes off as one piece.