For bed quilts that I have hand quilted I always machine attach the binding and finish it by hand. On baby quilts or Linus quilts I either totally machine do it using a decorative stitch or make it envelope style and just run a decorative stich about 1/4" in from the outside edge to give the impression of a binding.
I have never had a problem with the hand stitched binding coming loose from my bed quilts even after they have been machine washed and dried several times.