There is not just one "best way" to do storyboarding. It will be different for different people. I know some people who draw their's very intricately and provide lots of details in the drawings, while others just have general sketches. I have a storyboarding notebook that has templates in it that I use, but before I purchased it I would print off templates or even just draw rough boxes and free hand everything if I was out somewhere and had an idea. What you want to do with storyboarding is map out your film's shot structure and story so that when filming time comes you aren't making up things as you go along. This should speed up your filming time and reduce errors and retakes. This doesn't mean that you have to stick with you storyboards to the "T" obviously. You may begin shooting and realize a shot you had in mind just won't work. Also, it isn't necessary to storyboard some things like perhaps a long dialogue sequence with two characters that are just going to be standing still.
If you want to see examples of mine, check out this blog post where I compare my storyboards to the finished product: http://repellingspider.blogspot.com/201
lling.html
As you can see, some of my sketches are very rough. That's perfectly alright though as long as I can understand them and then apply it later on. I also mark down the type of shot it's going to be a lot of the time (whether it's a Long Shot, Medium Close, Extreme Long Shot, Close Up, etc). When I took a film class my first semester in college, we had a project where we had to storyboard out a short film and then shoot the video in order and could not rearrange or edit the shots at all later on. This exercise showed me how helpful storyboarding can be and allowed for a very smooth shooting stage. Hope some of that helps!