A serpentine stitch is the easiest for me. I let half the serpentine be on the binding and half on the quilt, and "aim" for the edge of the binding.
I also like a blanket stitch (machine applique stitch) with the "bite" going into the binding. This one is slower going for me because staying exactly on the stitching line is more important for the stitch to look good on both front and back.
Edit: I do think it helps a lot to do quite a bit of accurate prepping of the binding before sewing. It helps if seam allowances are exact, pressing the machine-sewn binding away from the quilt (but not pressing the binding edge), and glue basting the binding into exactly the right place.